2020-11-21

在这里插入代码片
`#!/usr/bin/env python2
import rospyfrom geometry_msgs.msg import Twistfrom std_msgs.msg import Boolimport sys, select, termios, ttyimport Tkinter as tkbanner = """Reading from the keyboard  and Publishing to AckermannDriveStamped!---------------------------Moving around:        w   a    s    danything else : stopCTRL-C to quit"""print(banner)keyBindings = {  'w':(250,0),  'd':(250,-250),  'a':(250,250),  's':(-250,0),}speedBindings = {  'i':(10,0),  'j':(0,-10),  'l':(0,10),  'k':(-10,0),  'I':(0,0)}visualBindings = {	'1':'0'}def getKey():   tty.setraw(sys.stdin.fileno())   select.select([sys.stdin], [], [], 0)   key = sys.stdin.read(1)   termios.tcsetattr(sys.stdin, termios.TCSADRAIN, settings)   if key == chr(32):	key = "go"   return keyspeed = 1.5turn = 0.5#press ctrl+c  endif __name__=="__main__":  rospy.init_node('keyboard')  settings = termios.tcgetattr(sys.stdin)  pub = rospy.Publisher('cmd_vel', Twist, queue_size=1)  visual_s``

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