在slam自主导航时候 启动键盘控制时候报错
错误：
[mbot_teleop-1] process has died [pid 3237, exit code 127, cmd /home/arise/sources/catkin_ws/src/mbot_teleop/scripts/mbot_teleop.py __name:=mbot_teleop __log:=/home/arise/.ros/log/33712cb8-3c4c-11ec-b042-2b39f59291af/mbot_teleop-1.log]. log file: /ho
解决
sudo ln -s /usr/bin/python3 /usr/bin/python
错误：SyntaxError: Missing parentheses in call to ‘print‘. Did you mean print(e)?
解决:
我用的是ubuntu20.04，所以是python3的版本，与古月老师用的不一样所以需要修改~/catkin_ws/src/mbot_teleop/scripts/mbot_teleop.py文件中的所有的print后加（）。
#!/usr/bin/env python
# -*- coding: utf-8 -*-
import rospy
from geometry_msgs.msg import Twist
import sys, select, termios, tty
msg = """
Control mbot!
---------------------------
Moving around:
u i o
j k l
m , .
q/z : increase/decrease max speeds by 10%
w/x : increase/decrease only linear speed by 10%
e/c : increase/decrease only angular speed by 10%
space key, k : force stop
anything else : stop smoothly
CTRL-C to quit
"""
moveBindings = {
'i':(1,0),
'o':(1,-1),
'j':(0,1),
'l':(0,-1),
'u':(1,1),
',':(-1,0),
'.':(-1,1),
'm':(-1,-1),
}
speedBindings={
'q':(1.1,1.1),
'z':(.9,.9),
'w':(1.1,1),
'x':(.9,1),
'e':(1,1.1),
'c':(1,.9),
}
def getKey():
tty.setraw(sys.stdin.fileno())
rlist, _, _ = select.select([sys.stdin], [], [], 0.1)
if rlist:
key = sys.stdin.read(1)
else:
key = ''
termios.tcsetattr(sys.stdin, termios.TCSADRAIN, settings)
return key
speed = .2
turn = 1
def vels(speed,turn):
return "currently:\tspeed %s\tturn %s " % (speed,turn)
if __name__=="__main__":
settings = termios.tcgetattr(sys.stdin)
rospy.init_node('mbot_teleop')
pub = rospy.Publisher('/cmd_vel', Twist, queue_size=5)
x = 0
th = 0
status = 0
count = 0
acc = 0.1
target_speed = 0
target_turn = 0
control_speed = 0
control_turn = 0
try:
print(msg)
print(vels(speed,turn))
while(1):
key = getKey()
# 运动控制方向键（1：正方向，-1负方向）
if key in moveBindings.keys():
x = moveBindings[key][0]
th = moveBindings[key][1]
count = 0
# 速度修改键
elif key in speedBindings.keys():
speed = speed * speedBindings[key][0] # 线速度增加0.1倍
turn = turn * speedBindings[key][1] # 角速度增加0.1倍
count = 0
print(vels(speed,turn))
if (status == 14):
print(msg)
status = (status + 1) % 15
# 停止键
elif key == ' ' or key == 'k' :
x = 0
th = 0
control_speed = 0
control_turn = 0
else:
count = count + 1
if count > 4:
x = 0
th = 0
if (key == '\x03'):
break
# 目标速度=速度值*方向值
target_speed = speed * x
target_turn = turn * th
# 速度限位，防止速度增减过快
if target_speed > control_speed:
control_speed = min( target_speed, control_speed + 0.02 )
elif target_speed < control_speed:
control_speed = max( target_speed, control_speed - 0.02 )
else:
control_speed = target_speed
if target_turn > control_turn:
control_turn = min( target_turn, control_turn + 0.1 )
elif target_turn < control_turn:
control_turn = max( target_turn, control_turn - 0.1 )
else:
control_turn = target_turn
# 创建并发布twist消息
twist = Twist()
twist.linear.x = control_speed;
twist.linear.y = 0;
twist.linear.z = 0
twist.angular.x = 0;
twist.angular.y = 0;
twist.angular.z = control_turn
pub.publish(twist)
except:
print(e)
finally:
twist = Twist()
twist.linear.x = 0; twist.linear.y = 0; twist.linear.z = 0
twist.angular.x = 0; twist.angular.y = 0; twist.angular.z = 0
pub.publish(twist)
termios.tcsetattr(sys.stdin, termios.TCSADRAIN, settings)
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原文链接：https://blog.csdn.net/wuchaogege/article/details/121116916