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rotate a desired degree using feedback from odometry

asked 2018-05-06 06:51:29 -0600

abdelkrim gravatar image

updated 2018-05-06 16:27:38 -0600

can i send a desired angle as a parameter to the programme and when I run the script it automatically rotates a desired degree using feedback from odometry

i have odom topic and my script give me an angle which the robot have to rotate .so i want to control the degree of rotation using angular velocity from Odometry this is possible

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This question is too vague, what is the program you are referring to? What is the hardware setup of your robot. We need to know these things to be able to help you.

PeteBlackerThe3rd gravatar image PeteBlackerThe3rd  ( 2018-05-06 14:29:15 -0600 )edit

thank you for reply i modify my question to become more clear

abdelkrim gravatar image abdelkrim  ( 2018-05-06 16:29:04 -0600 )edit

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answered 2019-10-10 18:39:48 -0600

R. Tellez gravatar image

Here the code that does what you are requesting:

#!/usr/bin/env python
import rospy
from nav_msgs.msg import Odometry
from tf.transformations import euler_from_quaternion
from geometry_msgs.msg import Twist
import math

roll = pitch = yaw = 0.0
target_angle = 9
kP = 0.5

def get_rotation (msg):
    global roll, pitch, yaw
    orientation_q = msg.pose.pose.orientation
    orientation_list = [orientation_q.x, orientation_q.y, orientation_q.z, orientation_q.w]
    (roll, pitch, yaw) = euler_from_quaternion (orientation_list)
    print yaw

rospy.init_node('my_quaternion_to_euler')

sub = rospy.Subscriber ('/odom', Odometry, get_rotation)
pub = rospy.Publisher('/cmd_vel', Twist, queue_size=1)
command= Twist()
r = rospy.Rate(10)
while not rospy.is_shutdown():
    target_rad = target_angle * math.pi/180
    command.angular.z = kP  * (target_rad - yaw)
    pub.publish(command)
    r.sleep()

Set the desired angle in the variable target_angle

Also, if you need deeper explanation of the code check this video which describes the code step by step.

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Could you please update your answer with an explanation of your code?

jayess gravatar image jayess  ( 2019-10-12 13:46:48 -0600 )edit

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Asked: 2018-05-06 06:51:29 -0600

Seen: 948 times

Last updated: Oct 10 '19