Python Pose.angular_velocity Exemples

Exemple #1

Fichier : 05_pub_tb3_pose2d.py Projet : greattoe/ros_tutorial_kr

    def get_odom(self, dat):

        pos_x, pos_y, theta = self.get_pose(dat)

        pose2d = Pose()  # turtlesim.msg.Pose()
        pose2d.x = pos_x
        pose2d.y = pos_y
        # pose2d.theta
        pose2d.linear_velocity = dat.twist.twist.linear.x
        pose2d.angular_velocity = dat.twist.twist.linear.x

        if (theta - self.prv_theta) > 5.0:  #  5.0(rad) =  286.479(deg)
            d_theta = (theta - self.prv_theta) - 2 * pi
        elif (theta - self.prv_theta) < -5.0:  # -5.0(rad) = -286.479(deg)
            d_theta = (theta - self.prv_theta) + 2 * pi
        else:
            d_theta = (theta - self.prv_theta)

        self.theta_sum = self.theta_sum + d_theta
        self.prv_theta = theta

        pose2d.theta = self.theta_sum

        self.pub.publish(pose2d)
        self.print_pose(pose2d)

Exemple #2

Fichier : turtlesim_go_to_listener_encrypted.py Projet : felipe-castano-95/catkin_ws

def message_to_pose(data):
	goal = Pose()
	goal.x = float(data['x'])
	goal.y = float(data['y'])
	goal.theta = 0.0
	goal.linear_velocity = 0.0
	goal.angular_velocity = 0.0
	return goal

Exemple #3

Fichier : turtlesim_go_to_talker.py Projet : felipe-castano-95/catkin_ws

def get_location():
    pose = Pose()
    pose.x = round(uniform(0, 11.09), 2)
    pose.y = round(uniform(0, 11.09), 2)
    pose.theta = 0.0
    pose.linear_velocity = 0.0
    pose.angular_velocity = 0.0
    return pose

Exemple #4

Fichier : reset.py Projet : gregorylobo1/CATKIN2

def reset():

    #starts new node
    rospy.init_node('turt_reset', anonymous=True)
    pose_publisher = rospy.Publisher('/turtle1/pose', Pose, queue_size=10)

    pos_msg = Pose()

    print("Hello World")

    rospy.sleep(1)

    pos_msg.x = 3
    pos_msg.y = 3
    pos_msg.theta = 1.7
    pos_msg.linear_velocity = 0
    pos_msg.angular_velocity = 0

    pose_publisher.publish(pos_msg)