ROS ROBOTIC MOVEMENT PYTHON

[frkndmrsln]

https://prnt.sc/kQJCg6V_GdRE

Hello everyone. As seen in the image, the Robot will start from the top and follow a certain path. At the end of the movement, it will stop in the lower and middle part.

I can move the robot but I cannot direct it down. I'm running on Ubuntu

My code

#!/usr/bin/env python
#chmod u+x ~/catkin_ws/src/beginner_tutorials/src/movedistance.py
import rospy
import sys
from geometry_msgs.msg import Twist

#nodeid = str(sys.argv[1])
#nodename = "turtle" + nodeid


def moveRobot(vel_x, vel_y, vel_z,distance):
rospy.init_node('move')
pub = rospy.Publisher("/turtle1/cmd_vel", Twist, queue_size=10)
vel_msg = Twist()
vel_msg.linear.x = vel_x
vel_msg.linear.y = vel_y
vel_msg.linear.z = 0
vel_msg.angular.x = 0
vel_msg.angular.y = 0
vel_msg.angular.z = vel_z

rate=rospy.Rate(10)
rospy.loginfo("Moving into distance ...")

t0 = rospy.Time.now().to_sec()
current_distance = 0

while current_distance < distance:
pub.publish(vel_msg)
t1 = rospy.Time.now().to_sec()
current_distance = vel_msg.linear.x * (t1-t0)
rate.sleep()




def git():
moveRobot(0.3, 0, 0,1)
moveRobot(0, -0.3, 0,2)





#vel_msg.linear.x = 0.0 #stop robot
#vel_msg.angular.z = 0.0 #stop robot
#spub.publish(vel_msg)



if __name__ == "__main__":
try:
git()
except rospy.ROSInterruptException:
pass

Larz60+ write Apr-04-2022, 03:56 PM:
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