接下來要設(shè)法透過Arduino在ROS的世界說話。最簡單的方法是使用機器人啟動檔。雖然以下的檔案內(nèi)容非常簡單，但是這里要追加啟動檔，如此一來即使是非常復(fù)雜的機器人，也能用一個指令啟動。

$ cat rosservo.launch

$ roslaunch ./rosservo.lanch

rostopic指令可以看出ROS訊息傳送到機器人的哪個部位?？戳讼旅娴某绦虼a就會發(fā)現(xiàn)，「/head/tilt」可以透過Arduino使用。訊息要使用「rostopic」傳送。-1的選項只會發(fā)布（publish）訊息一次，通知/head/tilt傳送一個浮點數(shù)。

$ rostopic list

/diagnostics

/head/tilt

/rosout

/rosout_agg

$ rostopic pub -1 /head/tiltstd_msgs/Float32 0.4

$ rostopic pub -1 /head/tilt std_msgs/Float320.9

Terry和Houndbot都是ROS機器人，以6061個鋁合金零件制造而成。項目的目標是要盡量讓這些機器人自主運動。

以下的Python腳本程序會監(jiān)聽「/head/tilt/smooth」的訊息，朝「/head/tilt」發(fā)布許多訊息，好讓伺服機轉(zhuǎn)到目標角度之前慢慢加速，再慢慢延遲旋轉(zhuǎn)。當訊息抵達「/head/tilt/smooth」時一定會呼叫「moveServo_cb」。這個回調(diào)函式會從-90到+90度之間每10度產(chǎn)生1個數(shù)值，追加到角度數(shù)組當中?！竤in()」會取這個角度，數(shù)值從-1到+1慢慢增加。該數(shù)值加1之后，范圍就會變成0到+2，再除以2之后， 0到+1的曲線數(shù)值數(shù)組就完成了。然后再看看m數(shù)組當中，每當發(fā)布訊息時，就會稍微前進一點，范圍在r之內(nèi)，直到1*r或是全范圍為止。

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