the angles are not accurate as when i accepted them from the input what is the problem
i changed the code at link text to accept speed ,angle and clockwise as an argument and i got the turtles angle deviated from the one i tried with the input function what the hell on the earth do i have to do in ordered to get it working? here is the code
#!/usr/bin/env python import rospy from geometry_msgs.msg import Twist PI = 3.1415926535897 def rotate(speed,angle,clockwise): #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() #Converting from angles to radians angular_speed = speed*2*PI/360 relative_angle = angle*2*PI/360#We wont use linear components vel_msg.linear.x=0 vel_msg.linear.y=0 vel_msg.linear.z=0 vel_msg.angular.x = 0 vel_msg.angular.y = 0 # Checking if our movement is CW or CCW if clockwise: vel_msg.angular.z = -abs(angular_speed) else: vel_msg.angular.z = abs(angular_speed) # Setting the current time for distance calculus 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.z = 0 velocity_publisher.publish(vel_msg) rospy.spin()
if __name__ == '__main__':
try:
# Testing our function
rotate(180,180,1)
except rospy.ROSInterruptException:
pass