首先，我想通过从一个turtle订阅teleop_key来捕获pose值。然后我想更改这些捕获的值并发布到另一个turtle。问题是我无法将pose值捕获为全局变量。因此，我无法更改变量并发布修改后的变量。
我想我已经有一个几乎完成的代码了。这就是为什么我打算直接把它们都扔出去。

#!/usr/bin/env python3
from turtlesim.msg import Pose
from geometry_msgs.msg import Twist
import rospy as rp

global pos_l_x,pos_l_y,pos_l_z,pos_a_x,pos_a_y,pos_a_z 

def pose_callback(msg):
    rp.loginfo("("+ str(msg.x) + "," + str(msg.y) + "," + str(msg.theta)+ ")")

    pos_l_x = msg.x
    pos_l_y = msg.y
    pos_a_z = msg.theta

if __name__ == '__main__':
    rp.init_node("turtle_inverse")

    while not rp.is_shutdown():
                
        sub = rp.Subscriber("/turtlesim1/turtle1/pose", Pose, callback= pose_callback)
        rate = rp.Rate(1)
        rp.loginfo("Node has been started")
        
        cmd = Twist()
    
        cmd.linear.x = -1*pos_l_x
        cmd.linear.y = -1*pos_l_y
        cmd.linear.z = 0
        cmd.angular.x = 0
        cmd.angular.y = 0
        cmd.angular.z = -1*pos_a_z
        
        pub = rp.Publisher("/turtlesim2/turtle1/cmd_vel", Twist, queue_size=10)
        try:
            pub.publish(cmd)
        except rp.ServiceException as e:
            rp.logwarn(e)

        rate.sleep()

    rp.spin()

我在下面的午餐文件中做了turtle1和turtle2之间的连接：

<?xml version="1.0"?>
<launch>

    <group ns="turtlesim1">
        <node pkg="turtlesim" type="turtlesim_node" name="turtle1">
            <remap from="/turtle1/cmd_vel" to="vel_1"/>
        </node>
        <node pkg="turtlesim" type="turtle_teleop_key" name="Joyistic" output= "screen">
            <remap from="/turtle1/cmd_vel" to="vel_1"/>
        </node>
    </group>

    <group ns="turtlesim2">
        <node pkg="turtlesim" type="turtlesim_node" name="turtle1">
        </node>
    </group>

    <node pkg="turtlesim" type="mimic" name="mimic">
        <remap from="input" to="turtlesim1/turtle1"/>
        <remap from="output" to="turtlesim2/turtle1"/>
    </node>

</launch>

最后是我的package.xml代码：

<?xml version="1.0"?>
<package format="2">
  <name>my_robot_controller</name>
  <version>0.0.0</version>
  <description>The my_robot_controller package</description>

  <!-- One maintainer tag required, multiple allowed, one person per tag -->
  <!-- Example:  -->
  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
  <maintainer email="(I delete it for sharing)">enes</maintainer>

  <!-- One license tag required, multiple allowed, one license per tag -->
  <!-- Commonly used license strings: -->
  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
  <license>TODO</license>

  <buildtool_depend>catkin</buildtool_depend>
  
  <build_depend>rospy</build_depend>
  <build_depend>turtlesim</build_depend>
  <build_depend>geometry_msgs</build_depend>
  
  <build_export_depend>rospy</build_export_depend>
  <build_export_depend>turtlesim</build_export_depend>
  <build_export_depend>geometry_msgs</build_export_depend>
  
  <exec_depend>rospy</exec_depend>
  <exec_depend>turtlesim</exec_depend>
  <exec_depend>geometry_msgs</exec_depend>

  <export>
    <!-- Other tools can request additional information be placed here -->

  </export>
</package>

不是：我在柳絮工作区工作，错误不可能在这里，因为我运行许多不同的代码没有麻烦