CODEWITHSUNDEEP
pythonpython-2.7ubuntu-18.04ros
partho
partho

Reputation: 69

moving a turtle in a circle and stop it in the initial position as a ros node?

I ran the below code using rosrun command as a node but not running in a circle anymore. But there's no error in this function. How to solve this and ran in a circle and stop in initial position?

ROS : Melodic Ubuntu 18.04

#!/usr/bin/env python
import rospy
import rospkg
from geometry_msgs.msg import Twist
from turtlesim.msg import Pose
#defining variables
x = 0
y = 0
theta = 0.0
    
#main function  
def pose_callback(msg):
    global x, y, psi
    x = msg.x
    y = msg.y
    psi = msg.theta
    print(msg.theta)
if __name__=="__main__":

    
    rospy.init_node('node_turtle_revolve', anonymous = True)
    r = rospy.Rate(10)
    velocity_publisher = rospy.Publisher('/turtle1/cmd_vel', Twist, queue_size=10) 
    
    while not rospy.is_shutdown():
        
    sub = rospy.Subscriber('/turtle1/pose', Pose, pose_callback)
        vel_msg = Twist()
    vel_msg.linear.x = 0.2
    vel_msg.linear.x = 0.0
    vel_msg.linear.x = 0.0
    vel_msg.angular.x= 0.0
    vel_msg.angular.y= 0.0
    vel_msg.angular.z= 0.1
    velocity_publisher.publish(vel_msg)
    r.sleep

Upvotes: 0

Views: 2483

Answers (1)

Ajay Raineni
Ajay Raineni

Reputation: 26

You should change msg as pose

def pose_callback(pose): global x, y, psi x = pose.x y = pose.y psi = msg.theta print(msg.theta) And you should write a if statement

Upvotes: 1

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