{"id":34626,"date":"2025-04-30T07:35:45","date_gmt":"2025-04-29T23:35:45","guid":{"rendered":"https:\/\/www.wsisp.com\/helps\/34626.html"},"modified":"2025-04-30T07:35:45","modified_gmt":"2025-04-29T23:35:45","slug":"ros%e5%ae%9e%e9%aa%8c%e4%ba%8c-%ef%bc%88%e8%af%9d%e9%a2%98%e9%80%9a%e4%bf%a1%ef%bc%8c%e6%9c%8d%e5%8a%a1%e9%80%9a%e4%bf%a1%e5%92%8c%e5%8f%82%e6%95%b0%e6%9c%8d%e5%8a%a1%e5%99%a8%ef%bc%89","status":"publish","type":"post","link":"https:\/\/www.wsisp.com\/helps\/34626.html","title":{"rendered":"ROS\u5b9e\u9a8c\u4e8c \uff08\u8bdd\u9898\u901a\u4fe1\uff0c\u670d\u52a1\u901a\u4fe1\u548c\u53c2\u6570\u670d\u52a1\u5668\uff09"},"content":{"rendered":"

————👆👆👆\u5176\u4ed6\u7ae0\u8282\u70b9\u5f00\u4e13\u680f\u67e5\u770b👆👆👆————<\/h2>\n
\n

\u672c\u8282\u5185\u5bb9<\/h2>\n

1. \u4f7f\u7528 Python \u7f16\u5199\u8bdd\u9898\u7684\u53d1\u5e03\u4e0e\u8ba2\u9605\u5b9e\u73b0，\u8981\u6c42\u53d1\u5e03\u65b9\u4ee5 30HZ(\u6bcf\u79d2 30 \u6b21)\u7684\u9891\u7387\u53d1\u5e03 rgba \u989c\u8272\u6d88\u606f，\u8ba2\u9605\u65b9\u8ba2\u9605\u6d88\u606f\u5e76\u5c06\u6d88\u606f\u5185\u5bb9\u6253\u5370\u8f93\u51fa\u3002 \u8981\u6c42： \u8bdd\u9898\u540d\u79f0：color \u53d1\u5e03\u65b9\u8f93\u51fa：\u5df2\u53d1\u51fa\u7684\u989c\u8272\u6d88\u606f \u8ba2\u9605\u65b9\u8f93\u51fa：\u6536\u5230\u7684\u989c\u8272\u6d88\u606f\u4e3a：r=0, g=255, b=3, a=1\u3002🌟<\/p>\n

2. \u4f7f\u7528 Python \u7f16\u5199\u670d\u52a1\u5ba2\u6237\u7aef，\u5b9e\u73b0\u5411 turtlesim \u53d1\u9001\u8bf7\u6c42，\u5728\u4e4c\u9f9f\u663e\u793a\u8282\u70b9\u7a97\u53e3\u4e0a\u6307\u5b9a\u4f4d\u7f6e\u751f\u6210\u65b0\u7684\u4e4c\u9f9f\u3002🌟<\/p>\n

3. \u4f7f\u7528 Python \u7f16\u5199\u4ee3\u7801\u6765\u4fee\u6539 turtlesim \u4e4c\u9f9f\u663e\u793a\u8282\u70b9\u7a97\u53e3\u7684\u80cc\u666f\u8272，\u5df2\u77e5\u80cc\u666f\u8272\u662f\u901a\u8fc7\u53c2\u6570\u670d\u52a1\u5668\u7684\u65b9\u5f0f\u8bbe\u7f6e\u7684\u3002🌟<\/p>\n

\n

\u5b9e\u9a8c\u6b65\u9aa4<\/h2>\n

1.\u53d1\u5e03 ColorRGBA \u6d88\u606f\u5230 color \u8bdd\u9898，\u8ba2\u9605\u5e76\u6253\u5370\u989c\u8272\u6570\u636e\u3002<\/h3>\n

\u5728ROS\u5b9e\u9a8c\u4e00\u7684\u5de5\u4f5c\u7a7a\u95f4\u4e0b\u7ee7\u7eed\u5b9e\u9a8c\u3002\u6211\u4eec\u65b0\u5efa\u4e00\u4e2a\u529f\u80fd\u5305，\u5c06\u5176\u547d\u540d\u4e3atask2,\u5e76\u6dfb\u52a0\u4ee5\u4e0b\u4f9d\u8d56：<\/p>\n

（\u521b\u5efa\u529f\u80fd\u5305\u7684\u65b9\u6cd5\u5728ROS\u5b9e\u9a8c\u4e00\u91cc\u6709，\u53ef\u4ee5\u5728\u4e13\u680f\u4e2d\u67e5\u770b😊）<\/p>\n

rospy std_msgs <\/p>\n

\u548c\u4e4b\u524d\u4e00\u6837，\u5728task2\u529f\u80fd\u5305\u4e2d\u521b\u5efascripts\u6587\u4ef6\u5939\u3002\u5728scripts\u6587\u4ef6\u5939\u5185\u6dfb\u52a0color_publisher.py\u6587\u4ef6，\u7528\u4e8e\u53d1\u5e03\u8bdd\u9898\u3002color_publisher.py\u7684\u5185\u5bb9\u5728\u8fd9👇<\/p>\n

#!\/usr\/bin\/env python3
\nimport rospy
\nfrom std_msgs.msg import ColorRGBA<\/p>\n

def color_publisher():
\n # \u521d\u59cb\u5316\u8282\u70b9
\n rospy.init_node('color_publisher', anonymous=True)
\n # \u521b\u5efa\u53d1\u5e03\u8005，\u8bdd\u9898\u540d\u4e3a 'color'
\n pub = rospy.Publisher('color', ColorRGBA, queue_size=10)
\n # \u8bbe\u7f6e\u53d1\u5e03\u9891\u7387\u4e3a30Hz
\n rate = rospy.Rate(30)<\/p>\n

while not rospy.is_shutdown():
\n # \u521b\u5efa\u989c\u8272\u6d88\u606f
\n color_msg = ColorRGBA()
\n color_msg.r = 0
\n color_msg.g = 255
\n color_msg.b = 3
\n color_msg.a = 1<\/p>\n

# \u53d1\u5e03\u6d88\u606f
\n pub.publish(color_msg)
\n rospy.loginfo("\u5df2\u53d1\u51fa\u7684\u989c\u8272\u6d88\u606f")<\/p>\n

rate.sleep()<\/p>\n

if __name__ == '__main__':
\n try:
\n color_publisher()
\n except rospy.ROSInterruptException:
\n pass<\/p>\n

\u6dfb\u52a0color_subscriber.py\u6587\u4ef6，\u7528\u4e8e\u8ba2\u9605\u8bdd\u9898\u3002color_subscriber.py\u7684\u5185\u5bb9\u5728\u8fd9👇<\/p>\n

#!\/usr\/bin\/env python3
\nimport rospy
\nfrom std_msgs.msg import ColorRGBA<\/p>\n

def color_callback(msg):
\n rospy.loginfo("\u6536\u5230\u7684\u989c\u8272\u6d88\u606f\u4e3a：r=%.0f, g=%.0f, b=%.0f, a=%.0f" % (msg.r, msg.g, msg.b, msg.a))<\/p>\n

def color_subscriber():
\n # \u521d\u59cb\u5316\u8282\u70b9
\n rospy.init_node('color_subscriber', anonymous=True)
\n # \u521b\u5efa\u8ba2\u9605\u8005，\u8bdd\u9898\u540d\u4e3a 'color'
\n rospy.Subscriber('color', ColorRGBA, color_callback)
\n # \u9632\u6b62\u7a0b\u5e8f\u9000\u51fa
\n rospy.spin()<\/p>\n

if __name__ == '__main__':
\n try:
\n color_subscriber()
\n except rospy.ROSInterruptException:
\n pass<\/p>\n

\u6253\u5f00\u4e00\u4e2a\u7ec8\u7aef，\u8fd0\u884croscore\u6307\u4ee4\u3002\u6253\u5f00\u7b2c\u4e8c\u4e2a\u7ec8\u7aef，\u4f9d\u6b21\u8fd0\u884c\u4ee5\u4e0b\u6307\u4ee4：<\/p>\n

#\u8fdb\u5165scripts\u6587\u4ef6\u5939，\u5982\u679c\u4f60\u7684\u5de5\u4f5c\u7a7a\u95f4\u540d\u548c\u6211\u4e0d\u4e00\u6837，\u6362\u6210\u4f60\u7684\u540d\u5b57
\ncd ~\/catkin_ws\/src\/task2\/scripts<\/p>\n

#\u6dfb\u52a0\u53ef\u6267\u884c\u6743\u9650
\nchmod +x color_publisher.py
\nchmod +x color_subscriber.py<\/p>\n

cd ~\/catkin_ws
\ncatkin_make
\nsource devel\/setup.bash<\/p>\n

rosrun task2 color_publisher.py #\u53d1\u5e03\u8bdd\u9898<\/p>\n

\u6253\u5f00\u7b2c\u4e09\u4e2a\u7ec8\u7aef，\u8fd0\u884c\u4ee5\u4e0b\u6307\u4ee4：<\/p>\n

#\u8fdb\u5165scripts\u6587\u4ef6\u5939，\u5982\u679c\u4f60\u7684\u5de5\u4f5c\u7a7a\u95f4\u540d\u548c\u6211\u4e0d\u4e00\u6837，\u6362\u6210\u4f60\u7684\u540d\u5b57
\ncd ~\/catkin_ws\/src\/task2\/scripts<\/p>\n

#\u6dfb\u52a0\u53ef\u6267\u884c\u6743\u9650
\nchmod +x color_publisher.py
\nchmod +x color_subscriber.py<\/p>\n

cd ~\/catkin_ws
\ncatkin_make
\nsource devel\/setup.bash<\/p>\n

rosrun task2 color_subscriber.py<\/p>\n

\u6700\u7ec8\u8fd0\u884c\u7ed3\u679c\u5982\u4e0b😊😊<\/p>\n

\"\"<\/p>\n

2.\u5ba2\u6237\u7aef\u8bf7\u6c42 turtlesim \u5728\u6307\u5b9a\u4f4d\u7f6e\u751f\u6210\u65b0\u7684\u4e4c\u9f9f<\/h3>\n

\u521b\u5efaturtle_spawn_client.py\u6587\u4ef6，\u5728\u6587\u4ef6\u4e2d\u6dfb\u52a0\u4ee5\u4e0b\u4ee3\u7801：<\/p>\n

#!\/usr\/bin\/env python3
\nimport rospy
\nfrom turtlesim.srv import Spawn<\/p>\n

def spawn_turtle(x, y, theta, name):
\n # \u521d\u59cb\u5316\u8282\u70b9
\n rospy.init_node('turtle_spawn_client')<\/p>\n

# \u7b49\u5f85\u670d\u52a1\u7684\u542f\u52a8
\n rospy.wait_for_service('spawn')<\/p>\n

try:
\n # \u521b\u5efa spawn \u670d\u52a1\u4ee3\u7406
\n spawn_turtle_service = rospy.ServiceProxy('spawn', Spawn)<\/p>\n

# \u8c03\u7528\u670d\u52a1\u5e76\u4f20\u9012\u53c2\u6570：x, y, theta, name
\n spawn_turtle_service(x, y, theta, name)<\/p>\n

rospy.loginfo("\u65b0\u4e4c\u9f9f\u5df2\u751f\u6210，\u4f4d\u7f6e：x=%.2f, y=%.2f, theta=%.2f, \u540d\u5b57：%s" % (x, y, theta, name))<\/p>\n

except rospy.ServiceException as e:
\n rospy.logerr("\u670d\u52a1\u8c03\u7528\u5931\u8d25：%s" % e)<\/p>\n

if __name__ == '__main__':
\n try:
\n # \u8bf7\u6c42\u751f\u6210\u4e00\u4e2a\u65b0\u4e4c\u9f9f，\u6307\u5b9a\u4f4d\u7f6e（\u4f8b\u5982 x=3.0, y=3.0, theta=0.0），\u5e76\u547d\u540d\u4e3a 'turtle2'
\n spawn_turtle(3.0, 3.0, 0.0, 'turtle2')
\n except rospy.ROSInterruptException:
\n pass<\/p>\n

\u00a0\u5b8c\u6210\u540e\u6253\u5f00\u7b2c\u4e00\u4e2a\u7ec8\u7aef\u8fd0\u884croscore\u3002\u6253\u5f00\u7b2c\u4e8c\u4e2a\u7ec8\u7aef\u542f\u52a8turtlesim\u3002（\u548c\u4e4b\u524d\u7684\u64cd\u4f5c\u4e00\u6837，\u5982\u679c\u4f60\u7684\u5de5\u4f5c\u7a7a\u95f4\u540d\u5b57\u548c\u6211\u7684\u4e0d\u4e00\u6837\u8bb0\u5f97\u66f4\u6539）<\/p>\n

rosrun turtlesim turtlesim_node<\/p>\n

\u6253\u5f00\u7b2c\u4e09\u4e2a\u7ec8\u7aef，\u8f93\u5165\u4ee5\u4e0b\u547d\u4ee4\u3002<\/p>\n

#\u8fdb\u5165scripts\u6587\u4ef6\u5939，\u5982\u679c\u4f60\u7684\u5de5\u4f5c\u7a7a\u95f4\u540d\u548c\u6211\u4e0d\u4e00\u6837，\u6362\u6210\u4f60\u7684\u540d\u5b57
\ncd ~\/catkin_ws\/src\/task2\/scripts<\/p>\n

#\u6dfb\u52a0\u53ef\u6267\u884c\u6743\u9650
\nchmod +x turtle_spawn_client.py<\/p>\n

cd ~\/catkin_ws
\ncatkin_make
\nsource devel\/setup.bash<\/p>\n

rosrun task2 turtle_spawn_client.py<\/p>\n

\u8fd0\u884c\u540e\u5728\u5de6\u4e0b\u89d2\u751f\u6210\u4e86\u4e00\u53ea\u767d\u8272\u6d77\u9f9f😊😊<\/p>\n

\"\"<\/p>\n

3.\u901a\u8fc7 \u53c2\u6570\u670d\u52a1\u5668 \u4fee\u6539\u00a0turtlesim \u80cc\u666f\u8272\u3002\u00a0<\/h3>\n

\u00a0\u4fee\u6539\u80cc\u666f\u8272\u4ee3\u7801\u5982\u4e0b，\u6211\u4eec\u5c06\u5b83\u547d\u540d\u4e3achange_background_color.py\u3002<\/p>\n

#!\/usr\/bin\/env python3
\nimport rospy<\/p>\n

def change_background_color(r, g, b):
\n # \u521d\u59cb\u5316\u8282\u70b9
\n rospy.init_node('change_background_color')<\/p>\n

# \u4fee\u6539\u53c2\u6570\u670d\u52a1\u5668\u4e0a\u7684\u80cc\u666f\u8272
\n rospy.set_param('\/turtlesim\/background_r', r)
\n rospy.set_param('\/turtlesim\/background_g', g)
\n rospy.set_param('\/turtlesim\/background_b', b)<\/p>\n

rospy.loginfo("\u80cc\u666f\u8272\u5df2\u4fee\u6539\u4e3a：r=%d, g=%d, b=%d" % (r, g, b))<\/p>\n

if __name__ == '__main__':
\n try:
\n # \u4fee\u6539\u80cc\u666f\u8272\u4e3a\u7ea2\u8272
\n change_background_color(255, 0, 0)
\n except rospy.ROSInterruptException:
\n pass<\/p>\n

\u00a0\u5b8c\u6210\u540e\u6253\u5f00\u7b2c\u4e00\u4e2a\u7ec8\u7aef\u8fd0\u884croscore\u3002\u6253\u5f00\u7b2c\u4e8c\u4e2a\u7ec8\u7aef\u8f93\u5165\u4ee5\u4e0b\u547d\u4ee4\u3002（\u548c\u4e4b\u524d\u7684\u64cd\u4f5c\u4e00\u6837，\u5982\u679c\u4f60\u7684\u5de5\u4f5c\u7a7a\u95f4\u540d\u5b57\u548c\u6211\u7684\u4e0d\u4e00\u6837\u8bb0\u5f97\u66f4\u6539）\u3002<\/p>\n

#\u8fdb\u5165scripts\u6587\u4ef6\u5939，\u5982\u679c\u4f60\u7684\u5de5\u4f5c\u7a7a\u95f4\u540d\u548c\u6211\u4e0d\u4e00\u6837，\u6362\u6210\u4f60\u7684\u540d\u5b57
\ncd ~\/catkin_ws\/src\/task2\/scripts<\/p>\n

#\u6dfb\u52a0\u53ef\u6267\u884c\u6743\u9650
\nchmod +x change_background_color.py<\/p>\n

cd ~\/catkin_ws
\ncatkin_make
\nsource devel\/setup.bash<\/p>\n

rosrun task2 change_background_color.py<\/p>\n

\u00a0\u6253\u5f00\u7b2c\u4e09\u4e2a\u7ec8\u7aef，\u542f\u52a8\u5c0f\u6d77\u9f9f\u3002\u00a0（\u5148\u8fd0\u884cpy\u6587\u4ef6\u518d\u542f\u52a8\u5c0f\u6d77\u9f9f）<\/p>\n

rosrun turtlesim turtlesim_node<\/p>\n

\u53ef\u4ee5\u770b\u5230\u80cc\u666f\u989c\u8272\u53d8\u6210\u4e86\u7ea2\u8272，\u606d\u559c\u4f60\u6210\u529f\u4e86！😊😊<\/p>\n

\"\"<\/p>\n","protected":false},"excerpt":{"rendered":"

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