该rosrun命令没有执行我的python文件。该命令只是被跳过了。我已经使用命令使 python 脚本可执行
sudo chmod +x controller.py。我无法运行任何 python 文件或 rosrun 命令。即使是python代码也没有错误。可能的问题是什么？我是ROS的新手，所以请指导我。
controller.py包含以下代码：
import rospy
from geometry_msgs.msg import Twist
#from sensor_msgs.msg import LaserScan
from nav_msgs.msg import Odometry
from tf.transformations import euler_from_quaternion
import math
def odom_callback(data):
global x,y,pose,ebot_theta
x = data.pose.pose.orientation.x
y = data.pose.pose.orientation.y
z = data.pose.pose.orientation.z
w = data.pose.pose.orientation.w
pose = [data.pose.pose.position.x, data.pose.pose.position.y, euler_from_quaternion([x,y,z,w])[2]]
ebot_theta=euler_from_quaternion([x,y,z,w])[2]
#def laser_callback(msg):
#global regions
#regions = {
# 'bright': ,
# 'fright': ,
# 'front': ,
# 'fleft': ,
#'bleft': ,
#}
def Waypoints(t):
if t == 0:
h = 0.74
k = 0.488
elif t == 1:
h = 1.42
k = 1.289
elif t == 2:
h = 1.911
k = 1.54
elif t == 3:
h = 2.45
k = 1.2
elif t == 4:
h = 3.141
k = 0
elif t == 5:
h = 3.91
k = -1.289
elif t == 6:
h = 4.373
k = -1.54
elif t == 7:
h = 5.02
k = -1.125
elif t == 8:
h = 5.72
k = -0.297
elif t == 9:
h = 6.283
k = 0
else:
pass
return [h,k]
def control_loop():
rospy.init_node('ebot_controller',anonymous=True)
pub = rospy.Publisher('/cmd_vel', Twist, queue_size=10)
#rospy.Subscriber('/ebot/laser/scan', LaserScan, laser_callback)
rospy.Subscriber('/odom', Odometry, odom_callback)
rate = rospy.Rate(10)
velocity_msg = Twist()
velocity_msg.linear.x = 0
velocity_msg.angular.z = 0
pub.publish(velocity_msg)
i=0
while not rospy.is_shutdown() & i<10:
[x1,y1]=[x,y]
[x2,y2]=Waypoints(i)
theta_goal= math.atan((y2-y1)/(x2-x1))
e_theta= ebot_theta-theta_goal
velocity_msg.linear.x = 10
velocity_msg.angular.z = (-1)*e_theta
pub.publish(velocity_msg)
i=i+1
print("Controller message pushed at {}".format(rospy.get_time()))
rate.sleep()
if __name__ == '__control_loop__':
try:
control_loop()
except rospy.ROSInterruptException:
pass
