本文整理汇总了Python中geometry_msgs.msg.Twist类的典型用法代码示例。如果您正苦于以下问题：Python Twist类的具体用法？Python Twist怎么用？Python Twist使用的例子？那么, 这里精选的类代码示例或许可以为您提供帮助。
在下文中一共展示了Twist类的15个代码示例，这些例子默认根据受欢迎程度排序。您可以为喜欢或者感觉有用的代码点赞，您的评价将有助于系统推荐出更棒的Python代码示例。
示例1: coordinate_to_action
def coordinate_to_action(self, msg):
x = msg.x
y = msg.y
r = msg.z
depth_proportion = -0.025
depth_intercept = 1.35
depth = r*depth_proportion + depth_intercept
# print depth
y_transform = self.frame_height/2 - y
x_transform = x-self.frame_width/2
angle_diff = x_transform
print angle_diff
if (angle_diff-10) < 0 and (angle_diff + 10) > 0:
angle_diff = 0
if depth-.05<0.5 and depth+.05>0.5:
depth = 0.5
# print "x: ", x_transform
# print "y: ",y
# print "d: ", depth
# print "a: ", angle_diff
twist = Twist()
lin_proportion = -(0.5-depth)*0.07
twist.linear = Vector3(lin_proportion, 0, 0)
turn_proportion = -0.0005*(angle_diff)
twist.angular = Vector3(0, 0, turn_proportion)
self.move_pub.publish(twist.linear, twist.angular)示例2: notifyClientUpdated
def notifyClientUpdated(self, topic):
#rank the votes and convert to a numpy array
linearCandidates = self.getLinearCandidates()
angularCandidates = self.getAngularCandidates()
linearRankings, angularRankings = rankings = self.calculateRankings(rospy.get_rostime())
#sum the rankings of each candidate
linearBordaCount = np.sum(linearRankings, axis=0)
angularBordaCount = np.sum(angularRankings, axis=0)
#highest ranked candidate
bestLinearCandidateIndex = np.argmax(linearBordaCount)
bestAngularCandidateIndex = np.argmax(angularBordaCount)
bestLinearCandidate = linearCandidates[bestLinearCandidateIndex]
bestAngularCandidate = angularCandidates[bestAngularCandidateIndex]
#publish the best ranked action
rospy.loginfo("aggregator realtime_weighted_borda_full: %s - %s",(bestLinearCandidate,bestAngularCandidate),self.weights)
action=Twist()
if bestLinearCandidate:
action.linear = bestLinearCandidate.linear
if bestAngularCandidate:
action.angular = bestAngularCandidate.angular
self.publish(action)示例3: goalPub
def goalPub():
global currentGoal
goalCount = 0
goalinworld = rospy.Publisher('robot_2/goal',Twist,queue_size=10)
goal = Twist()
goal.linear = Vector3(currentGoal.x,currentGoal.y,0.0)
goal.angular = Vector3(0.0,0.0,0.0)
rate = rospy.Rate(10.0)
while not rospy.is_shutdown():
result = goal2_client()
if result.robot2_thereOrNot == 1:
goalCount = goalCount + 1
if goalCount>=1:
currentGoal.x = -13.0
currentGoal.y = -10.0
else:
currentGoal.x = -13.0
currentGoal.y = -5.0
goal.linear = Vector3(currentGoal.x,currentGoal.y,0.0)
goal.angular = Vector3(0.0,0.0,0.0)
rospy.loginfo(goalCount)
rospy.loginfo(goal.linear)
goalinworld.publish(goal)
rate.sleep()示例4: coordinate_to_action
def coordinate_to_action(self, msg):
x = msg.x
y = msg.y
r = msg.z
depth_proportion = -0.025
depth_intercept = 1.35
depth = r*depth_proportion + depth_intercept
# print depth
y_transform = self.frame_height/2 - y
x_transform = x-self.frame_width/2
angle_diff = math.tan(x_transform/depth)
print "x: ", x_transform
print "y: ",y
print "d: ", depth
print "a: ", angle_diff
twist = Twist()
lin_proportion = 0#-(0.5-depth)*0.1
twist.linear = Vector3(lin_proportion, 0, 0)
turn_proportion = 0*(angle_diff)
twist.angular = Vector3(0, 0, turn_proportion)
self.move_pub.publish(twist.linear, twist.angular)示例5: move_base
def move_base(self, x, y, z):
print "MOVING"
twist_msg = Twist()
twist_msg.linear = Vector3(x, 0.0, 0.0)
twist_msg.angular = Vector3(0.0, 0.0, z)
self.cmd_vel_pub.publish(twist_msg)示例6: center_flag
def center_flag(self, flag):
if not self.is_centered(flag):
print "gotta align"
print "angle is currently " + str(flag.angle)
msg = Twist()
msg.linear = Vector3(0, 0, 0)
msg.angular = Vector3(0, 0, flag.angle)
self.velocity_publisher.publish(msg)示例7: drive
def drive(self, lin_vel, ang_vel):
"""Publishes specified linear and angular command velocities"""
# Note: for the Neato platforms, only x-linear and z-rotational motion is possible
twist = Twist()
twist.linear = Vector3(lin_vel,0,0)
twist.angular = Vector3(0,0,ang_vel)
self.pub.publish(twist.linear, twist.angular)示例8: stop_uav
def stop_uav(pub):
"""
Tells the UAV to hold at its current position.
"""
zero = Vector3(0,0,0)
msg = Twist()
msg.linear = zero
msg.angular = zero
pub.publish(msg)示例9: base_action
def base_action(self, x, y, z, theta_x, theta_y, theta_z):
topic_name = '/base_controller/command'
base_publisher = rospy.Publisher(topic_name, Twist)
twist_msg = Twist()
twist_msg.linear = Vector3(x, y, z)
twist_msg.angular = Vector3(theta_x, theta_y, theta_z)
base_publisher.publish(twist_msg)示例10: do_GET
def do_GET(self):
global publisher
query_string = urlparse.urlparse(self.path).query
parameters = urlparse.parse_qs(query_string)
if 'type' not in parameters:
try:
if self.path == "/":
self.path = "/index.html"
elif self.path == "favicon.ico":
return
elif self.path == "map.gif":
# Draw robot position on map and send image back
draw_map()
return
fname,ext = os.path.splitext(self.path)
print "Loading file", self.path
with open(os.path.join(os.getcwd(),self.path[1:])) as f:
self.send_response(200)
self.send_header('Content-type', types_map[ext])
self.end_headers()
self.wfile.write(f.read())
return
except IOError:
self.send_error(404)
return
command_type = parameters['type'][0]
if command_type == 'base':
base_x = 0.0
if 'x' in parameters:
base_x = float(parameters['x'][0])
base_y = 0.0
if 'y' in parameters:
base_y = float(parameters['y'][0])
base_z = 0.0
if 'z' in parameters:
base_z = float(parameters['z'][0])
twist_msg = Twist()
twist_msg.linear = Vector3(base_x, base_y, 0.0)
twist_msg.angular = Vector3(0.0, 0.0, base_z)
mobile_base_velocity.publish(twist_msg)
elif command_type == 'speak':
text = parameters['say'][0]
sr = SoundRequest()
sr.sound = -3 #Say text
sr.command = 1 #Play once
sr.arg = text
publisher.publish(sr)
#os.system("espeak -s 155 -a 200 '" + text + "' ")
# response
self.send_response(204)
return示例11: default
def default(self, ci='unused'):
twist = Twist()
twist.header = self.get_ros_header()
# Fill twist-msg with the values from the sensor
twist.linear.x = self.data['velocity'][0]
twist.linear.y = self.data['velocity'][1]
twist.linear.z = self.data['velocity'][2]
self.publish(twist)示例12: send_cmd_msg
def send_cmd_msg(self):
msg = Twist()
msg.linear = Vector3()
msg.angular = Vector3()
msg.linear.x = self.x
msg.linear.y = 0
msg.linear.z = 0
msg.angular.x = 0
msg.angular.y = 0
msg.angular.z = self.omega
self.publisher.publish(msg) 示例13: send_cmd_msg
def send_cmd_msg(self, speed, omega):
#print('receieved odometry')
msg = Twist()
msg.linear = Vector3()
msg.angular = Vector3()
msg.linear.x = speed
msg.linear.y = 0
msg.linear.z = 0
msg.angular.x = 0
msg.angular.y = 0
msg.angular.z = omega
self.publisher.publish(msg)示例14: stop_robot
def stop_robot():
import time
global cmd_vel_pub
global logger
logger.debug("Posting 0 cmd_vel data ....")
for _ in range(100):
rospy.sleep(0.01)
twist_msg = Twist()
twist_msg.linear = Vector3(0,0,0)
twist_msg.angular = Vector3(0,0,0)
cmd_vel_pub.publish(twist_msg)
logger.debug("Finished posting 0 cmd_vel data ...\n")示例15: get_motion
def get_motion(self):
t = Twist()
buf = StringIO()
self.motion.serialize(buf)
t.deserialize(buf.getvalue())
if DONT_BUMP:
if any(self.impact):
self.backingsince = time.time()
self.motion.linear.x = 0
if self.backingsince is not None:
if time.time() < self.backingsince + BUMP_REV_TIME:
t.linear.x = -BUMP_REV_SPEED
else:
self.backingsince = None
return t