<node name="arbotix" pkg="arbotix_python" type="arbotix_driver" output="screen">
<rosparam file="$(find mrobot_description)/config/fake_mrobot_arbotix.yaml" command="load" />
<param name="sim" value="true"/>
</node>
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher">
<param name="publish_frequency" type="double" value="20.0" />
</node>
该launch文件添加了arbotix\_driver的内容
该节点还需加载控制器相关配置文件，该配置文件在功能包config路径下
创建配置文件mrobot\_description/config/fake\_mrobot\_arbotix.yaml的内容如下
controllers: { base_controller: {type: diff_controller, base_frame_id: base_footprint, base_width: 0.26, ticks_meter: 4100, Kp: 12, Kd: 12, Ki: 0, Ko: 50, accel_limit: 1.0 } }
3. 创建功能包mrobot\_teleop
catkin_create_pkg mrobot_teleop geometry_msgs rospy roscpp
再回到工作空间根目录下进行编译
catkin_make $ source ~/catkin_ws/devel/setup.bash
而后再在此功能包下创建两个文件夹launch和scripts
在launch文件下创建文件mrobot\_teleop.launch
4. 在launch文件下创建文件logitech.launch
5.在文件夹scripts下创建mrobot\_teleop.py
#!/usr/bin/env python
-- coding: utf-8 --
import rospy from geometry_msgs.msg import Twist import sys, select, termios, tty
msg = """ Control mrobot!
Moving around: u i o j k l m , .
q/z : increase/decrease max speeds by 10% w/x : increase/decrease only linear speed by 10% e/c : increase/decrease only angular speed by 10% space key, k : force stop anything else : stop smoothly
CTRL-C to quit """
moveBindings = { 'i':(1,0), 'o':(1,-1), 'j':(0,1), 'l':(0,-1), 'u':(1,1), ',':(-1,0), '.':(-1,1), 'm':(-1,-1), }
speedBindings={ 'q':(1.1,1.1), 'z':(.9,.9), 'w':(1.1,1), 'x':(.9,1), 'e':(1,1.1), 'c':(1,.9), }
def getKey(): tty.setraw(sys.stdin.fileno()) rlist, _, _ = select.select([sys.stdin], [], [], 0.1) if rlist: key = sys.stdin.read(1) else: key = ''
termios.tcsetattr(sys.stdin, termios.TCSADRAIN, settings) return key
speed = .2 turn = 1
def vels(speed,turn): return "currently:\tspeed %s\tturn %s " % (speed,turn)
if name=="main": settings = termios.tcgetattr(sys.stdin)
rospy.init_node('mrobot_teleop') pub = rospy.Publisher('/cmd_vel', Twist, queue_size=5)
x = 0 th = 0 status = 0 count = 0 acc = 0.1 target_speed = 0 target_turn = 0 control_speed = 0 control_turn = 0 try: print msg print vels(speed,turn) while(1): key = getKey() # 运动控制方向键（1：正方向，-1负方向） if key in moveBindings.keys(): x = moveBindings[key][0] th = moveBindings[key][1] count = 0 # 速度修改键 elif key in speedBindings.keys(): speed = speed * speedBindings[key][0] # 线速度增加0.1倍 turn = turn * speedBindings[key][1] # 角速度增加0.1倍 count = 0
print vels(speed,turn) if (status == 14): print msg status = (status + 1) % 15 # 停止键 elif key == ' ' or key == 'k' : x = 0 th = 0 control_speed = 0 control_turn = 0 else: count = count + 1 if count > 4: x = 0 th = 0 if (key == '\x03'): break
目标速度=速度值*方向值
target_speed = speed * x
target_turn = turn * th
速度限位，防止速度增减过快
if target_speed > control_speed:
control_speed = min( target_speed, control_speed + 0.02 )
elif target_speed < control_speed:
control_speed = max( target_speed, control_speed - 0.02 )
else:
control_speed = target_speed
if target_turn > control_turn: control_turn = min( target_turn, control_turn + 0.1 ) elif target_turn < control_turn: control_turn = max( target_turn, control_turn - 0.1 ) else: control_turn = target_turn
创建并发布twist消息
twist = Twist()
twist.linear.x = control_speed;
twist.linear.y = 0;
twist.linear.z = 0
twist.angular.x = 0;
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