【自编程使松灵机器人转圈】

#!/usr/bin/env python3

import rospy
from geometry_msgs.msg import Twist

INTRODUCTION = """
发布者控制命令使小车以圆形轨迹运动
"""
def main():
    # 打印介绍信息
    print(INTRODUCTION)

    #初始化Twist控制信息
    twist =Twist()
    twist.linear.x = 0.3
    twist.linear.y = 0
    twist.linear.z = 0
    twist.angular.x = 0
    twist.angular.y = 0
    twist.angular.z = 1.5

    # ROS节点初始化
    rospy.init_node('draw_circle', anonymous=True)

    # 创建一个Publisher，cmd_vel的topic，消息类型为geometry_msgs::Twist，队列长度1
    cmd_vel_pub = rospy.Publisher('cmd_vel', Twist, queue_size=1)# queue_size队列长度

    # 设置循环的频率
    rate = rospy.Rate(10)

    #初始化ros主循环
    while not rospy.is_shutdown():
        # 发布控制命令
        cmd_vel_pub.publish(twist)
        # 按照循环频率延时
        rate.sleep()
if __name__ == '__main__':
    main()