ROS-订阅激光数据

#include <sensor_msgs/LaserScan.h>

void callback(const sensor_msgs::LaserScan& msg)
{
	size_t size = msg.ranges.size();
	double min_distance = 1.5;//避障距离1.5米
	for (unsigned int i = 0; i < size; ++i)
	{

		if (msg.ranges[i] < min_distance) {
			return;
		}
	}
}

int main(int argc, char** argv)
{
	ros::init(argc, argv, "scan_node"); //初始化节点
	ros::NodeHandle n;

	ros::Subscriber sub = n.subscribe("/scan", 1, callback); //订阅话题

	ros::Duration(1.0).sleep();

	ros::spin();
	return 0;
}