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turtle.py
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turtle.py
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#!/usr/bin/env python
import rospy
from geometry_msgs.msg import Twist
PI = 3.1415926535897
def turtle():
# Starts a new node
rospy.init_node('robot_cleaner', anonymous=True)
velocity_publisher = rospy.Publisher('/turtle1/cmd_vel', Twist, queue_size=10)
vel_msg = Twist()
# We wont use Angular component's for the y-axis movement
vel_msg.linear.x = 0
vel_msg.linear.z = 0
vel_msg.angular.x = 0
vel_msg.angular.z = 0
# Receiveing the user's input
speed = 1 # speed degrees/sec
distance = 3
isForward = True
vel_msg.linear.y = abs(speed)
while not rospy.is_shutdown():
# Setting the current time for distance calculus
t0 = rospy.Time.now().to_sec()
current_distance = 0
# Loop to move the turtle in an specified distance
while (current_distance < distance):
# Publish the velocity
velocity_publisher.publish(vel_msg)
# Takes actual time to velocity calculus
t1 = rospy.Time.now().to_sec()
# Calculates distancePoseStamped
current_distance = speed * (t1 - t0)
# After the loop, stops the robot
vel_msg.linear.y = 0
# Force the robot to stop
velocity_publisher.publish(vel_msg)
angle = 145
angular_speed = speed * 2 * PI / 360
relative_angle = angle * 2 * PI / 360
vel_msg.angular.y = -abs(angular_speed)
t0 = rospy.Time.now().to_sec()
current_angle = 0
while (current_angle < relative_angle):
velocity_publisher.publish(vel_msg)
t1 = rospy.Time.now().to_sec()
current_angle = angular_speed * (t1 - t0)
# Forcing our robot to stop
vel_msg.angular.y = 0
velocity_publisher.publish(vel_msg)
rospy.spin()
if __name__ == '__main__':
try:
# Testing our function
turtle()
except rospy.ROSInterruptException:
pass