move_robot.py 文件源码

def keyboard():
    pub = rospy.Publisher('/mobile_base/commands/velocity',Twist, queue_size=10)
    rospy.init_node('teleop_py',anonymous=True)
    rate = rospy.Rate(10)
    k = 1
    while not rospy.is_shutdown() and k < 250:
      twist.linear.x = 1.0
      twist.angular.z = 0.01
      twist.linear.y = 0.0
      pub.publish(twist)
      rate.sleep()
      k +=1
    k = 1
    # while not rospy.is_shutdown() and k < 400:
    #   twist.linear.x = 0.0
    #   twist.angular.z = 0.1
    #   twist.linear.y = 0.0
    #   pub.publish(twist)
    #   rate.sleep()
    #   k +=1