面向对象Python实现

小乌龟控制

1. 创建publisher

# 创建publisher
topicName = "/turtle1/cmd_vel"
self.publisher = rospy.Publisher(topicName, Twist, queue_size=1000)

2. 发布控制消息

# 创建消息
twist = Twist()
# 填充数据
twist.linear.x = linearX
twist.angular.z = angluarZ * math.pi / 180
# 发送消息
publisher.publish(twist)

小乌龟数据订阅

1. 创建subscriber

poseTopicName = "/turtle1/pose"
rospy.Subscriber(poseTopicName, Pose, self.poseCallback)

2. 添加订阅回调

def poseCallback(self, msg):
        if not isinstance(msg, Pose):
            return
        self.labelX.setText(str(msg.x))
        self.labelY.setText(str(msg.y))
        self.labelLinear.setText(str(msg.linear_velocity))
        self.labelAngular.setText(str(msg.angular_velocity))
        self.labelDegrees.setText(str(degrees(msg.theta)))