#!/usr/bin/env?python
#?Execute?as?a?python?script
#?Set?linear?and?angular?values?of?TurtleBot‘s?speed?and?turning

import?rospy		????#?Needed?to?create?a?ROS?node
from?geometry_msgs.msg?import?Twist?????#?Message?that?moves?base

class?ControlTurtleBot（）:
????def?__init__（self）:
????????#?ControlTurtleBot?is?name?of?the?node?sent?to?ROS?Master
????????rospy.init_node（‘ControlTurtleBot‘?anonymous=False）

????????#?Message?to?screen
????????rospy.loginfo（“Press?CTRL+c?to?stop?TurtleBot“）

????????#?Keys?CNTL?+?c?will?stop?script
????????rospy.on_shutdown（self.shutdown）

????????#Publisher?will?send?Twist?message?on?topic?cmd_vel_mux/input/navi
????????self.cmd_vel?=?rospy.Publisher（‘cmd_vel_mux/input/navi‘?Twist?queue_size=10）

????????#?TurtleBot?will?receive?message?10?times?per?second
????????rate?=?rospy.Rate（10）

????????#?10?Hz?is?fine?as?long?as?the?processing?does?not?exceed?1/10?second

????????#?Twist?is?a?type?of?geometry_msgs?for?linear?and?angular?velocity
????????move_cmd?=?Twist（）
????????#?Linear?speed?in?x?in?meters/second?is?+?（forward）?or?-?（backwards）
????????move_cmd.linear.x?=?0.3	#?Modify?value?to?change?speed
????????#?Turn?at?0?radians/s
????????move_cmd.angular.z?=?0	#?Modify?value?to?cause?rotation?rad/s

????????#?Loop?and?TurtleBot?will?move?until?you?type?CNTL+c
????????while?not?rospy.is_shutdown（）:
????????????#?publish?the?Twist?values?to?TurtleBot?node?/cmd_vel_mux
????????????self.cmd_vel.publish（move_cmd）
????????????#?wait?for?0.1?seconds?（10?HZ）?and?publish?again
????????????rate.sleep（）

????def?shutdown（self）:
????????#?You?can?stop?TurtleBot?by?publishing?an?empty?Twist?message
????????rospy.loginfo（“Stopping?TurtleBot“）

????????self.cmd_vel.publish（Twist（））

????????#?Give?TurtleBot?time?to?stop
????????rospy.sleep（1）
?
if?__name__?==?‘__main__‘:
????try:
????????ControlTurtleBot（）
????except:
????????rospy.loginfo（“End?of?the?trip?for?TurtleBot“）

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----
?????目錄???????????0??2017-11-30?14:20??ROSRoboticsbyExampleSecondEdition_Code\Chapter02\
?????目錄???????????0??2017-11-30?14:20??ROSRoboticsbyExampleSecondEdition_Code\Chapter02\ros_robotics\
?????文件?????????354??2017-11-13?16:34??ROSRoboticsbyExampleSecondEdition_Code\Chapter02\ros_robotics\CMakeLists.txt
?????目錄???????????0??2017-11-30?14:20??ROSRoboticsbyExampleSecondEdition_Code\Chapter02\ros_robotics\launch\
?????文件?????????725??2017-11-13?16:34??ROSRoboticsbyExampleSecondEdition_Code\Chapter02\ros_robotics\launch\ddrobot_gazebo.launch
?????文件?????????778??2017-11-13?16:34??ROSRoboticsbyExampleSecondEdition_Code\Chapter02\ros_robotics\launch\ddrobot_rviz.launch
?????文件?????????708??2017-11-13?16:34??ROSRoboticsbyExampleSecondEdition_Code\Chapter02\ros_robotics\package.xml
?????文件????????4551??2017-11-13?16:34??ROSRoboticsbyExampleSecondEdition_Code\Chapter02\ros_robotics\urdf.rviz
?????目錄???????????0??2017-11-30?14:20??ROSRoboticsbyExampleSecondEdition_Code\Chapter02\ros_robotics\urdf\
?????文件????????2993??2017-11-13?16:34??ROSRoboticsbyExampleSecondEdition_Code\Chapter02\ros_robotics\urdf\dd_robot.gazebo
?????文件?????????254??2017-11-13?16:34??ROSRoboticsbyExampleSecondEdition_Code\Chapter02\ros_robotics\urdf\dd_robot.urdf
?????文件????????1083??2017-11-13?16:34??ROSRoboticsbyExampleSecondEdition_Code\Chapter02\ros_robotics\urdf\dd_robot2.urdf
?????文件????????1265??2017-11-13?16:34??ROSRoboticsbyExampleSecondEdition_Code\Chapter02\ros_robotics\urdf\dd_robot3.urdf
?????文件????????1466??2017-11-13?16:34??ROSRoboticsbyExampleSecondEdition_Code\Chapter02\ros_robotics\urdf\dd_robot4.urdf
?????文件????????2273??2017-11-13?16:34??ROSRoboticsbyExampleSecondEdition_Code\Chapter02\ros_robotics\urdf\dd_robot5.urdf
?????文件????????2955??2017-11-13?16:34??ROSRoboticsbyExampleSecondEdition_Code\Chapter02\ros_robotics\urdf\dd_robot6.urdf
?????目錄???????????0??2017-11-30?14:20??ROSRoboticsbyExampleSecondEdition_Code\Chapter02\ros_robotics\worlds\
?????文件?????????496??2017-11-13?16:34??ROSRoboticsbyExampleSecondEdition_Code\Chapter02\ros_robotics\worlds\ddrobot.world
?????目錄???????????0??2017-11-30?14:20??ROSRoboticsbyExampleSecondEdition_Code\Chapter03\
?????文件????????1926??2017-11-13?16:34??ROSRoboticsbyExampleSecondEdition_Code\Chapter03\ControlTurtleBot.py
?????目錄???????????0??2017-11-30?14:20??ROSRoboticsbyExampleSecondEdition_Code\Chapter04\
?????文件????????1563??2017-11-13?16:34??ROSRoboticsbyExampleSecondEdition_Code\Chapter04\MoveTBtoGoalPoints.py
?????目錄???????????0??2017-11-30?14:20??ROSRoboticsbyExampleSecondEdition_Code\Chapter05\
?????目錄???????????0??2017-11-30?14:20??ROSRoboticsbyExampleSecondEdition_Code\Chapter05\ros_robotics\
?????文件?????????354??2017-11-13?16:34??ROSRoboticsbyExampleSecondEdition_Code\Chapter05\ros_robotics\CMakeLists.txt
?????目錄???????????0??2017-11-30?14:20??ROSRoboticsbyExampleSecondEdition_Code\Chapter05\ros_robotics\config\
?????文件?????????873??2017-11-13?16:34??ROSRoboticsbyExampleSecondEdition_Code\Chapter05\ros_robotics\config\rrbot_control.yaml
?????目錄???????????0??2017-11-30?14:20??ROSRoboticsbyExampleSecondEdition_Code\Chapter05\ros_robotics\launch\
?????文件?????????876??2017-11-13?16:34??ROSRoboticsbyExampleSecondEdition_Code\Chapter05\ros_robotics\launch\rrbot_control.launch
?????文件?????????887??2017-11-13?16:34??ROSRoboticsbyExampleSecondEdition_Code\Chapter05\ros_robotics\launch\rrbot_gazebo.launch
?????文件?????????673??2017-11-13?16:34??ROSRoboticsbyExampleSecondEdition_Code\Chapter05\ros_robotics\launch\rrbot_rviz.launch
............此處省略65個文件信息