节日用心准备的礼物，使用python画玫瑰和爱心，供大家参考，具体内容如下
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#!/usr/bin/env python
#coding=utf-8
#女生节礼物
import rospy
from sensor_msgs.msg import LaserScan
import numpy
import copy
node_name = "Test_Maker"
class Test_Maker():
def __init__(self):
self.Define()
rospy.Timer(rospy.Duration(0.5), self.Timer_CB1)
rospy.Timer(rospy.Duration(0.5), self.Timer_CB2)
rospy.Timer(rospy.Duration(0.5), self.Timer_CB3)
rospy.Timer(rospy.Duration(0.5), self.Timer_CB4)
rospy.spin()
def Define(self):
self.pub_scan1 = rospy.Publisher('test/test_scan1', LaserScan, queue_size=1)
self.pub_scan2 = rospy.Publisher('test/test_scan2', LaserScan, queue_size=1)
self.pub_scan3 = rospy.Publisher('test/test_scan3', LaserScan, queue_size=1)
#慎用！！！！
self.pub_scan4 = rospy.Publisher('test/test_scan4', LaserScan, queue_size=1)
def Timer_CB1(self, e):
data = LaserScan()
data.header.frame_id = "base_link"
data.angle_min = 0
data.angle_max = numpy.pi*2
data.angle_increment = numpy.pi*2 / 200
data.range_max = numpy.Inf
data.range_min = 0
theta = 0
for i in range(200):
r = 8.* numpy.sin(5. * theta )
data.ranges.append(copy.deepcopy(r))
data.intensities.append(theta)
r = 8.* numpy.sin(5. * -theta)
data.ranges.append(copy.deepcopy(r))
data.intensities.append(theta)
theta += data.angle_increment
data.header.stamp = rospy.Time.now()
self.pub_scan1.publish(data)
def Timer_CB2(self, e):
data = LaserScan()
data.header.frame_id = "base_link"
data.angle_min = 0
data.angle_max = numpy.pi*2
data.angle_increment = numpy.pi*2 / 200
data.range_max = numpy.Inf
data.range_min = 0
theta = 0
for i in range(200):
r = 8. * numpy.cos(5. * theta) + 1
data.intensities.append(theta)
data.ranges.append(copy.deepcopy(r))
r = 8. * numpy.cos(5. * -theta) + 1
data.intensities.append(theta)
data.ranges.append(copy.deepcopy(r))
theta += data.angle_increment
data.header.stamp = rospy.Time.now()
self.pub_scan2.publish(data)
def Timer_CB3(self, e):
data = LaserScan()
data.header.frame_id = "base_link"
data.angle_min = 0
data.angle_max = numpy.pi*2
data.angle_increment = numpy.pi*2 / 50
data.range_max = numpy.Inf
data.range_min = 0
theta = 0
for i in range(200):
r = 2. * numpy.sin(5. * theta) + 1
data.intensities.append(theta)
data.ranges.append(copy.deepcopy(r))
r = 2. * numpy.sin(5. * -theta) + 1
data.intensities.append(theta)
data.ranges.append(copy.deepcopy(r))
theta += data.angle_increment
data.header.stamp = rospy.Time.now()
self.pub_scan3.publish(data)
#慎用！！！！
def Timer_CB4(self, e):
data = LaserScan()
data.header.frame_id = "base_link"
data.angle_min = 0
data.angle_max = numpy.pi*2
data.angle_increment = data.angle_max / 200
data.range_max = numpy.Inf
data.range_min = 0
theta = 0
for i in range(200):
r = 9. * numpy.arccos(numpy.sin(theta)) + 9
data.ranges.append(r)
theta += data.angle_increment
data.header.stamp = rospy.Time.now()
self.pub_scan4.publish(data)
if __name__ == '__main__':
node_name = 'Test_Maker'
rospy.init_node(node_name)
try:
Test_Maker()
except rospy.ROSInterruptException:
rospy.logerr('%s error'%node_name)
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以上就是本文的全部内容，希望对大家的学习有所帮助，也希望大家多多支持服务器之家。
原文链接：https://blog.csdn.net/DinnerHowe/article/details/79488224