$ rostopic list
/diagnostics
/head/tilt
/rosout
/rosout_agg
$ rostopic pub -1 /head/tiltstd_msgs/Float32 0.4
$ rostopic pub -1 /head/tilt std_msgs/Float320.9
Terry和Houndbot都是ROS機(jī)器人，以6061個(gè)鋁合金零件制造而成。項(xiàng)目的目標(biāo)是要盡量讓這些機(jī)器人自主運(yùn)動(dòng)。
以下的Python腳本程序會(huì)監(jiān)聽「/head/tilt/smooth」的訊息，朝「/head/tilt」發(fā)布許多訊息，好讓伺服機(jī)轉(zhuǎn)到目標(biāo)角度之前慢慢加速，再慢慢延遲旋轉(zhuǎn)。當(dāng)訊息抵達(dá)「/head/tilt/smooth」時(shí)一定會(huì)呼叫「moveServo_cb」。這個(gè)回調(diào)函式會(huì)從-90到+90度之間每10度產(chǎn)生1個(gè)數(shù)值，追加到角度數(shù)組當(dāng)中。「sin()」會(huì)取這個(gè)角度，數(shù)值從-1到+1慢慢增加。該數(shù)值加1之后，范圍就會(huì)變成0到+2，再除以2之后， 0到+1的曲線數(shù)值數(shù)組就完成了。然后再看看m數(shù)組當(dāng)中，每當(dāng)發(fā)布訊息時(shí)，就會(huì)稍微前進(jìn)一點(diǎn)，范圍在r之內(nèi)，直到1*r或是全范圍為止。
#!/usr/bin/env python
from time import sleep
import numpy as np
import rospy
pos = currentPosition + mi*r
print “pos: “, pos
pub.publish(pos)
sleep(0.05)
currentPosition = targetPosition
print “pos-e: “, currentPosition
pub.publish(currentPosition)
def listener():
if __name__ == ‘__main__’:
listener()
想要測(cè)試伺服機(jī)順暢的動(dòng)作，就要啟動(dòng)Python腳本，將訊息發(fā)布到「/head/tilt/smooth」，這樣一來即可檢視順暢的動(dòng)作。
$ ./servoencoder.py
$ rostopic pub -1 /head/tilt/smoothstd_msgs/Float32 1
$ rostopic pub -1 /head/tilt/smoothstd_msgs/Float32 0
ROS當(dāng)中的名稱也可以重新測(cè)繪。只要將「/head/tilt/smooth」重新測(cè)繪為「/head/tilt」，程序就能向伺服機(jī)發(fā)出命令，而不會(huì)意識(shí)到正弦曲線的數(shù)值在變化。






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