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import rospy


from std_msgs.msg import Float32


currentPosition = 0.5
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pub = None


def moveServo_cb(data):


global currentPosition, pub


targetPosition = data.data


r = targetPosition - currentPosition


angles = np.array( (range(190)) [0::10]) -90


m = ( np.sin( angles * np.pi/ 180. ) + 1 )/2


for mi in np.nditer(m):


pos = currentPosition + mi*r


print “pos: “, pos


pub.publish(pos)


sleep(0.05)


currentPosition = targetPosition


print “pos-e: “, currentPosition


pub.publish(currentPosition)


def listener():


global pub


rospy.init_node(‘servoencoder’,anonymous=True)


rospy.Subscriber(‘/head/tilt/smooth’,Float32, moveServo_cb)


pub = rospy.Publisher(‘/head/tilt’,Float32, queue_size=10)


rospy.spin()


if __name__ == ‘__main__’:


listener()


想要测试伺服机顺畅的动作，就要启动Python脚本，将讯息发布到「/head/tilt/smooth」，这样一来即可检视顺畅的动作。


$ ./servoencoder.py
A06B-0373-B577 A06B-6066-H266


A06B-0113-B077 A06B-0373-B675 A06B-6069-H104


A06B-0113-B078 A06B-0374-B576 A06B-6070-H004


A06B-0113-B079 A06B-0374-B577 A06B-6070-H500 


A06B-0113-B175 A06B-0376-B675 A06B-6070-H600 


A06B-0113-B178 A06B-0377-B175 A06B-6073-K001


A06B-0115-B275 A06B-0377-B575 A06B-6073-K250


A06B-0116-B075 A06B-0390-B060 A06B-6076-H001


A06B-0116-B203 A06B-0501-B001 A06B-6077-H106


A06B-0116-B204 A06B-0501-B002


A06B-0116-B503 A06B-0501-B003


A06B-0116-B804 A06B-0501-B004 A06B-6077-H111


A06B-0120-K324 A06B-0501-B005 A06B-6077-K142


A06B-0121-B577 A06B-0501-B006 A06B-6077-K143


A06B-0121-B580 A06B-0501-B032 A06B-6077-K144


       A06B-0501-B201 A06B-6077-K250


A06B-0123-B075 A06B-0501-B202 A06B-6078-H206 


A06B-0123-B077 A06B-0501-B205 A06B-6078-H211


A06B-0123-B575 A06B-0501-B206


A06B-0123-B675  A06B-0501-B751 A06B-6078-H230