在Gazebo中添加悬浮模型后，利用键盘控制其移动方法

# -*- coding: utf-8 -*-
#!/usr/bin/env python
"""
Author：sagima
使用Gazebo仿真环境中生成一个名为"aruco_cubo_hover"的模型
python model.py
程序运行在Python2.7环境下。
"""
import os
import rospy
from gazebo_msgs.msg import ModelState
from gazebo_msgs.srv import DeleteModel, SpawnModel
from std_msgs.msg import Header
from geometry_msgs.msg import Pose, Point
# 初始化ROS节点
rospy.init_node('spawn_aruco_cubo_hover', anonymous=True)
# 定义生成模型的函数
def spawn_aruco_cubo_hover():
    model_name = "aruco_cubo_hover"
    model_path = "/home/sjh/project/Tiago_ws/src/pal_gazebo_worlds/models/aruco_cube_hover/aruco_cube_hover.sdf"
    # 在这里修改目标位置
    initial_pose = Pose(position=Point(x=0.8, y=0, z=1))
    # 从文件加载模型
    with open(model_path, "r") as f:
        model_xml = f.read()
    # 调用Gazebo的SpawnModel服务
    spawn_model = rospy.ServiceProxy('/gazebo/spawn_sdf_model', SpawnModel)
    resp_sdf = spawn_model(model_name, model_xml, "", initial_pose, "world")
    if resp_sdf.success:
        rospy.loginfo("模型 '{}' 生成成功。".format(model_name))
    else:
        rospy.logerr("模型 '{}' 生成失败。".format(model_name))
# 调用生成模型的函数
if __name__ == '__main__':
    try:
        spawn_aruco_cubo_hover()
    except rospy.ROSInterruptException:
        pass

# -*- coding: utf-8 -*-
#!/usr/bin/env python
"""
Author：sagima
使用Gazebo仿真环境中生成一个名为"aruco_cubo_hover"的模型，并通过键盘控制模型运动
python model_with_keyboard_control.py
程序运行在Python2.7环境下。
"""
import os
import rospy
from gazebo_msgs.msg import ModelState
from gazebo_msgs.srv import SetModelState, GetModelState
from std_msgs.msg import Header
from geometry_msgs.msg import Pose, Point
import sys
import select
import tty
import termios
# 初始化ROS节点
rospy.init_node('spawn_aruco_cubo_hover', anonymous=True)
# 保存终端设置
old_settings = termios.tcgetattr(sys.stdin)
tty.setcbreak(sys.stdin.fileno())
# 定义运动速度
move_speed = 0.1
# 定义生成模型的函数
def spawn_aruco_cubo_hover(initial_pose):
    model_name = "aruco_cubo_hover"
    model_path = "/home/sjh/project/Tiago_ws/src/pal_gazebo_worlds/models/aruco_cube_hover/aruco_cube_hover.sdf"
    # 从文件加载模型
    with open(model_path, "r") as f:
        model_xml = f.read()
    # 调用Gazebo的SpawnModel服务
    spawn_model = rospy.ServiceProxy('/gazebo/spawn_sdf_model', SpawnModel)
    resp_sdf = spawn_model(model_name, model_xml, "", initial_pose, "world")
    if resp_sdf.success:
        rospy.loginfo("模型 '{}' 生成成功。".format(model_name))
    else:
        rospy.logerr("模型 '{}' 生成失败。".format(model_name))
# 定义设置模型状态的函数
def set_model_state(model_name, pose):
    model_state = ModelState()
    model_state.model_name = model_name
    model_state.pose = pose
    set_model_state = rospy.ServiceProxy('/gazebo/set_model_state', SetModelState)
    set_model_state(model_state)
# 中文提示
print("按下以下键盘按键来控制模型运动：")
print("W: 向前移动")
print("S: 向后移动")
print("A: 向左移动")
print("D: 向右移动")
print("Q: 上升")
print("E: 下降")
print("Ctrl+C: 退出程序")
try:
    # 定义初始位置
    initial_pose = Pose(position=Point(x=0.8, y=0, z=1))
    # 主循环，持续监听键盘输入并控制模型运动
    while True:
        if select.select([sys.stdin], [], [], 0)[0] == [sys.stdin]:
            key = sys.stdin.read(1)
            if key == 'w':
                initial_pose.position.x += move_speed
            elif key == 's':
                initial_pose.position.x -= move_speed
            elif key == 'a':
                initial_pose.position.y += move_speed
            elif key == 'd':
                initial_pose.position.y -= move_speed
            elif key == 'q':
                initial_pose.position.z += move_speed
            elif key == 'e':
                initial_pose.position.z -= move_speed
            elif key == '\x03':  # Ctrl+C
                break
            # 调用设置模型状态的函数
            set_model_state("aruco_cubo_hover", initial_pose)
except rospy.ROSInterruptException:
    pass
finally:
    # 恢复终端设置
    termios.tcsetattr(sys.stdin, termios.TCSADRAIN, old_settings)