水下机器人

水下机器人

import  RPi.GPIO as GPIO
import time  

GPIO.setmode(GPIO.BORAD)
GPIO.setup(AIN2,GPIO.OUT)

GPIO.output(2,GPIO.HIGH)#输出高电平

GPIO.output(2,GPIO.LOW)#输出低电平

time.sleep(0.5)

ros：

# Set manual mode
$ rostopic pub -1 /BlueRov2/mode/set std_msgs/String "manual"
# Arm the vehicle
$ rostopic pub -1 /BlueRov2/arm std_msgs/Bool 1
# Set angular and linear speed
$ rostopic pub -r 4 /BlueRov2/setpoint_velocity/cmd_vel geometry_msgs/TwistStamped "{header: auto, twist: {linear: {x: 10.0, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: 0.0}}}"
# Set MAIN OUT pwm value
$ rostopic pub -r 4 /BlueRov2/servo1/set_pwm std_msgs/UInt16  1500
# Visualize camera image
$ rosrun image_view image_view image:=/BlueRov2/camera/image_raw
# See ROV state
$ rostopic echo /BlueRov2/state
# Watch battery information
$ rostopic echo /BlueRov2/battery
# IMU information
$ rostopic echo /BlueRov2/imu/data