Merge pull request #6 from chenjy9581/melodic

Melodic
DroidAITech · Aug 25, 2019 · c67dcfd · c67dcfd
2 parents 7d12f87 + 8da579b
commit c67dcfd
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Showing 7 changed files with 46 additions and 46 deletions.
diff --git a/robot_sim_demo/scripts/robot_keyboard_teleop.py b/robot_sim_demo/scripts/robot_keyboard_teleop.py
@@ -75,8 +75,8 @@ def vels(speed,turn):
     control_speed = 0
     control_turn = 0
     try:
-        print msg
-        print vels(speed,turn)
+        print (msg)
+        print (vels(speed,turn))
         while(1):
             key = getKey()
             if key in moveBindings.keys():
@@ -88,9 +88,9 @@ def vels(speed,turn):
                 turn = turn * speedBindings[key][1]
                 count = 0
 
-                print vels(speed,turn)
+                print (vels(speed,turn))
                 if (status == 14):
-                    print msg
+                    print (msg)
                 status = (status + 1) % 15
             elif key == ' ' or key == 'k' :
                 x = 0
@@ -132,7 +132,7 @@ def vels(speed,turn):
             #print("publihsed: vx: {0}, wz: {1}".format(twist.linear.x, twist.angular.z))
 
     except:
-        print e
+        print (e)
 
     finally:
         twist = Twist()

diff --git a/service_demo/scripts/client_demo.py b/service_demo/scripts/client_demo.py
@@ -22,8 +22,8 @@ def client_srv():
 
         # 打印处理结果，注意调用response的方法，类似于从resp对象中调取response属性
         rospy.loginfo("Message From server:%s"%resp.feedback)
-    except rospy.ServiceException, e:
-        rospy.logwarn("Service call failed: %s"%e)
+    except rospy.ServiceException:
+        rospy.logwarn("Service call failed: %s"%rospy.ServiceException)
 
 # 如果单独运行此文件，则将上面函数client_srv()作为主函数运行
 if __name__=="__main__":

diff --git a/tf_demo/scripts/py_coordinate_transformation.py b/tf_demo/scripts/py_coordinate_transformation.py
@@ -8,63 +8,63 @@
 if __name__ == '__main__':  
     rospy.init_node('py_coordinate_transformation')
 #第1部分，定义空间点和空间向量
-    print '第1部分，定义空间点和空间向量'
+    print ('第1部分，定义空间点和空间向量')
 #1.1 返回均匀随机单位四元数
     q=tf.transformations.random_quaternion(rand=None)
-    print '定义均匀随机四元数：'
-    print q
+    print ('定义均匀随机四元数：')
+    print (q)
 #1.2 返回均匀随机单位旋转矩阵
     m=tf.transformations.random_rotation_matrix(rand=None)
-    print '定义均匀随机单位旋转矩阵：'
-    print m
+    print ('定义均匀随机单位旋转矩阵：')
+    print (m)
 #1.3 返回均匀随机单位向量
     v=tf.transformations.random_vector(3)
-    print '定义均匀随机单位向量：'
-    print v
+    print ('定义均匀随机单位向量：')
+    print (v)
 #1.4 通过向量来求旋转矩阵
     v_m=tf.transformations.translation_matrix(v)
-    print '通过向量来求旋转矩阵：'
-    print v_m
+    print ('通过向量来求旋转矩阵：')
+    print (v_m)
 #1.5 通过旋转矩阵来求向量
     m_v=tf.transformations.translation_from_matrix(m)
-    print '通过旋转矩阵来求向量：'
-    print  m_v
+    print ('通过旋转矩阵来求向量：')
+    print  (m_v)
 #第2部分，定义四元数
-    print '第2部分，定义四元数'
+    print ('第2部分，定义四元数')
 #2.1 通过旋转轴和旋转角返回四元数
     axis_q=tf.transformations.quaternion_about_axis(0.123, (1, 0, 0))
-    print '通过旋转轴和旋转角返回四元数：'
-    print  axis_q
+    print ('通过旋转轴和旋转角返回四元数：')
+    print  (axis_q)
 #2.2 返回四元数的共轭
     n_q=tf.transformations.quaternion_conjugate(q)
-    print '返回四元数q的共轭：'
-    print  n_q
+    print ('返回四元数q的共轭：')
+    print  (n_q)
 #2.3 从欧拉角和旋转轴，求四元数
     o_q=tf.transformations.quaternion_from_euler(1, 2, 3, 'ryxz')
-    print '从欧拉角和旋转轴，求四元数：'
-    print  o_q    
+    print ('从欧拉角和旋转轴，求四元数：')
+    print  (o_q)
 #2.4 从旋转矩阵中，返回四元数
     m_q=tf.transformations.quaternion_from_matrix(m)
-    print '从旋转矩阵中，返回四元数：'
-    print  m_q 
+    print ('从旋转矩阵中，返回四元数：')
+    print  (m_q)
 #2.5 两个四元数相乘
     qxq=tf.transformations.quaternion_multiply(q,n_q)
-    print '两个四元数相乘'
-    print  qxq   
+    print ('两个四元数相乘')
+    print  (qxq)
 #第3部分，定义欧拉角度
-    print '第3部分，定义欧拉角'
+    print ('第3部分，定义欧拉角')
 #3.1 从欧拉角和旋转轴返回旋转矩阵
     rpy_m=tf.transformations.euler_matrix(1, 2, 3, 'syxz')
-    print '从欧拉角和旋转轴返回旋转矩阵'
-    print  rpy_m 
+    print ('从欧拉角和旋转轴返回旋转矩阵')
+    print  (rpy_m)
 #3.2 由旋转矩阵和特定的旋转轴返回欧拉角
     m_rpy=tf.transformations.euler_from_matrix(m)
-    print '由旋转矩阵和特定的旋转轴返回欧拉角'
-    print  m_rpy 
+    print ('由旋转矩阵和特定的旋转轴返回欧拉角')
+    print  (m_rpy)
 #3.3 由四元数和特定的轴得到欧拉角
     q_rpy=tf.transformations.euler_from_quaternion(q)
-    print '由四元数和特定的轴得到欧拉角'
-    print q_rpy
+    print ('由四元数和特定的轴得到欧拉角')
+    print (q_rpy)
 
 
 
diff --git a/tf_demo/scripts/py_tf_broadcaster.py b/tf_demo/scripts/py_tf_broadcaster.py
@@ -7,8 +7,8 @@
 
 if __name__ == '__main__':  
     rospy.init_node('py_tf_broadcaster')
-    print '讲解tf.transformBroadcaster类'
-    print '第1种发布方式：sendTransform(translation,rotation,time,child,parent)'
+    print ('讲解tf.transformBroadcaster类')
+    print ('第1种发布方式：sendTransform(translation,rotation,time,child,parent)')
 #第一部分，发布sendTransform(translation,rotation,time,child,parent)
     br = tf.TransformBroadcaster()
 #输入相对原点的值和欧拉角

diff --git a/tf_demo/scripts/py_tf_broadcaster02.py b/tf_demo/scripts/py_tf_broadcaster02.py
@@ -9,8 +9,8 @@
 
 if __name__ == '__main__':  
     rospy.init_node('py_tf_broadcaster')
-    print '讲解tf.transformBroadcaster类'
-    print '第2种发布方式：sendTransformMessage(transform)'
+    print ('讲解tf.transformBroadcaster类')
+    print ('第2种发布方式：sendTransformMessage(transform)')
 #第二部分，发布sendTransformMessage(transform)
     m=tf.TransformBroadcaster()
     t = geometry_msgs.msg.TransformStamped()

diff --git a/tf_demo/scripts/py_tf_listerner.py b/tf_demo/scripts/py_tf_listerner.py
@@ -10,21 +10,21 @@
     listener = tf.TransformListener() #TransformListener创建后就开始接受tf广播信息，最多可以缓存10s  目前存在的问题，是四个数值的顺序我还有点问题
     rate = rospy.Rate(1.0)  
     #1. 阻塞直到frame相通
-    print '1. 阻塞直到frame相通'  
+    print ('1. 阻塞直到frame相通')
     listener.waitForTransform("/base_link", "/link1", rospy.Time(), rospy.Duration(4.0))
     while not rospy.is_shutdown():  
         try:  
        #2. 监听对应的tf,返回平移和旋转
-            print '2. 监听对应的tf,返回平移和旋转'  
+            print ('2. 监听对应的tf,返回平移和旋转')
             (trans,rot) = listener.lookupTransform('/base_link', '/link1', rospy.Time(0)) #rospy.Time(0)不表示0时刻的tf，而是指最近一帧tf 
         except (tf.LookupException, tf.ConnectivityException, tf.ExtrapolationException):  
             continue  
 
         rospy.loginfo('距离原点的位置: x=%f ,y= %f，z=%f \n 旋转四元数: w=%f ,x= %f，y=%f z=%f ',trans[0],trans[1],trans[2],rot[0],rot[1],rot[2],rot[3])
         #3. 判断两个frame是否相通
-        print '3. 判断两个frame是否相通'
+        print ('3. 判断两个frame是否相通')
         if listener.canTransform('/link1','/base_link',rospy.Time(0)) :
-            print 'true'
+            print ('true')
         else :
-            print 'false'
+            print ('false')
         rate.sleep()  
diff --git a/tf_follower/scripts/py_tf_follower.py b/tf_follower/scripts/py_tf_follower.py
@@ -21,7 +21,7 @@
         def shutdownhook():
             # works better than the rospy.is_shut_down()
             global ctrl_c
-            print "shutdown time! Stop the robot"
+            print ("shutdown time! Stop the robot")
             cmd = geometry_msgs.msg.Twist()
             cmd.linear.x = 0.0
             cmd.angular.z = 0.0