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techpaste222

nishat_task3

techpaste222
Jul 1st, 2023 (edited)
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Python 2.28 KB | Source Code | 0 0
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  1. import rospy
  2. from geometry_msgs.msg import Twist
  3. from math import pi
  4. from turtlesim.msg import Pose
  5. import time
  6.  
  7.  
  8. class TurtleBot():
  9.     def __init__(self):
  10.         rospy.init_node('Electronauts', anonymous=True)
  11.         self.publisher = rospy.Publisher('/turtle1/cmd_vel', Twist, queue_size=10)
  12.         self.subscriber = rospy.Subscriber('/turtle1/pose', Pose, self.updates)
  13.         self.pose = Pose()
  14.         self.rate = rospy.Rate(10)
  15.  
  16.     def updates(self, list):
  17.         self.pose = list
  18.    
  19.     def move(self,turns):
  20.         vel = Twist()
  21.         vel.linear.x = 1
  22.         self.publisher.publish(vel)
  23.         rospy.sleep(1)
  24.  
  25.         for turn in turns:
  26.             if turn == 'ALIGN':
  27.                 vel = Twist()
  28.                 vel.angular.z = pi / 2
  29.                 self.publisher.publish(vel)
  30.                 time.sleep(1)
  31.  
  32.                 vel = Twist()
  33.                 vel.linear.x = 0
  34.                 self.publisher.publish(vel)
  35.                 time.sleep(1)
  36.             if turn == 'RIGHT TURN':
  37.                 vel = Twist()
  38.                 vel.angular.z = -pi / 2
  39.                 self.publisher.publish(vel)
  40.                 time.sleep(1)
  41.  
  42.                 vel = Twist()
  43.                 vel.linear.x = 1
  44.                 self.publisher.publish(vel)
  45.                 time.sleep(1)
  46.             if turn == 'LEFT TURN':
  47.                 vel = Twist()
  48.                 vel.angular.z = pi / 2
  49.                 self.publisher.publish(vel)
  50.                 time.sleep(1)
  51.  
  52.                 vel = Twist()
  53.                 vel.linear.x = 1
  54.                 self.publisher.publish(vel)
  55.                 time.sleep(1)
  56.             if turn == 'STRAIGHT':
  57.                 vel = Twist()
  58.                 vel.angular.z = 0
  59.                 self.publisher.publish(vel)
  60.                 time.sleep(1)
  61.  
  62.                 vel = Twist()
  63.                 vel.linear.x = 1
  64.                 self.publisher.publish(vel)
  65.                 time.sleep(1)
  66.  
  67. def main():
  68.     filename = input("Name of the file : ")
  69.     turns = []
  70.     with open(filename, "r") as file:
  71.         for line in file:
  72.             row = line.strip().split("\t")
  73.             turns.append(row[0])
  74.     turns.insert(0, 'ALIGN')
  75.     print(turns)
  76.     bot = TurtleBot()
  77.     bot.move(turns)
  78.  
  79. if __name__ == "__main__":
  80.     main()
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