网站开发地图导航页面,广州公司网站建设公司,网站建设 汇卓,哪个建立网站好文章目录 操作流程节点代码 操作流程
1、让nodeHandle发布 /cmd_vel话题#xff1b; 2、设定一个目标朝向角#xff0c;当姿态信息中的朝向角和目标朝向角不一致时#xff0c;控制机器人转向目标朝向角。
节点代码
/***************************************************… 文章目录 操作流程节点代码 操作流程
1、让nodeHandle发布 /cmd_vel话题 2、设定一个目标朝向角当姿态信息中的朝向角和目标朝向角不一致时控制机器人转向目标朝向角。
节点代码
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/*!******************************************************************author ZhangWanjie********************************************************************/#include ros/ros.h
#include sensor_msgs/Imu.h
#include tf/tf.h
#include geometry_msgs/Twist.h// 速度消息发布对象全局变量
ros::Publisher vel_pub;// IMU 回调函数
void IMUCallback(const sensor_msgs::Imu msg)
{// 检测消息包中四元数数据是否存在if(msg.orientation_covariance[0] 0)return;// 四元数转成欧拉角tf::Quaternion quaternion(msg.orientation.x,msg.orientation.y,msg.orientation.z,msg.orientation.w);double roll, pitch, yaw;tf::Matrix3x3(quaternion).getRPY(roll, pitch, yaw);// 弧度换算成角度roll roll*180/M_PI;pitch pitch*180/M_PI;yaw yaw*180/M_PI;ROS_INFO(滚转 %.0f 俯仰 %.0f 朝向 %.0f, roll, pitch, yaw);// 速度消息包geometry_msgs::Twist vel_cmd;// 目标朝向角double target_yaw 90;// 计算速度double diff_angle target_yaw - yaw;vel_cmd.angular.z diff_angle * 0.01;vel_cmd.linear.x 0.1;vel_pub.publish(vel_cmd);
}int main(int argc, char **argv)
{setlocale(LC_ALL, );ros::init(argc,argv, demo_imu_behavior); ros::NodeHandle n;// 订阅 IMU 的数据话题ros::Subscriber sub n.subscribe(imu/data, 100, IMUCallback);// 发布速度控制话题vel_pub n.advertisegeometry_msgs::Twist(/cmd_vel,10);ros::spin();return 0;
}
