小乌龟控制实现

1. 创建package(创建过可省略)

ros2 pkg create --build-type ament_python turtlesim_topic --dependencies geometry_msgs

可以修改package.xml文件如下信息

<description>C++ client server tutorial</description>
<maintainer email="you@email.com">Your Name</maintainer>
<license>Apache License 2.0</license>

2. 编写代码

2.1 节点代码

1. 在package的turtlesim_topic文件夹下创建turtlesim_topic_obj.py文件,代码如下

import sys
import rclpy
from rclpy.node import Node
from geometry_msgs.msg import Twist
from PyQt5.QtWidgets import QApplication,QWidget,QFormLayout,QLineEdit,QPushButton

class MainWindow(QWidget):
    def __init__(self,node):
        super(MainWindow, self).__init__()
        self.node = node
        self.publisher = node.create_publisher(Twist,'/turtle1/cmd_vel',10)
        self.resize(400,120)
        self.setWindowTitle('小乌龟控制')
        # 布局
        layout = QFormLayout()
        self.setLayout(layout)

        # 控件
        self.editLinear = QLineEdit()
        layout.addRow("线速度", self.editLinear)

        self.editAngular = QLineEdit()
        layout.addRow("角速度", self.editAngular)

        btnSend = QPushButton("发送")
        layout.addRow('',btnSend)
        # 事件
        btnSend.clicked.connect(self.send_twist)# 布局

    def send_twist(self):
        x = float(self.editLinear.text())
        y = float(self.editAngular.text())
        data = Twist()
        data.linear.x = x
        data.angular.z = y
        self.node.get_logger().info('send topic')
        self.publisher.publish(data)

def main():
    rclpy.init()
    node = Node('turtlesim_control')

    app = QApplication(sys.argv)
    window = MainWindow(node)
    window.show()
    result = app.exec_()
    node.destroy_node()
    rclpy.shutdown()
    sys.exit(result)


if __name__ == '__main__':
    main()

2.2 添加配置

1. 打开setup.py文件,在console_scripts节点下添加配置

'turtlesim_topic_obj = turtlesim_topic.turtlesim_topic_obj:main',

3. 编译工程

colcon build

4. 运行节点

source install/setup.bash
ros2 run turtlesim_topic turtlesim_topic_obj