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1.获取激光雷达数据

首先介绍介绍一下激光雷达的角度，方向“前”是机器人正方向

进入wpr_simulation进行更新

cd ~/catkin_ws/src/wpr_simulation/

进行更新

git pull

然后回退到catkin_ws

cd ~/catkin_ws/

进行编译

catkin_make

终端执行以下命令

roslaunch wpr_simulation wpb_simple.launch

分屏执行以下程序

rosrun wpr_simulation demo_lidar_data

获得机器人前方障碍物距离

接下来我们来实现该功能 ，先进入~/catkin/src/

创建雷达包

catkin_create_pkg lidar_pkg roscpp rospy sensor_msgs

在节点文件键入以下代码

#include<ros/ros.h>
#include<sensor_msgs/LaserScan.h>void LidarCallback(const sensor_msgs::LaserScan msg)
{float fMidDist = msg.ranges[180];ROS_INFO("前方测距ranges[180]=%f米",fMidDist);
}int main(int argc, char *argv[])
{//设置中文编码setlocale(LC_ALL,"");//初始化节点ros::init(argc,argv,"lidar_node");ros::NodeHandle n;ros::Subscriber lidar_sub = n.subscribe("/scan",10,&LidarCallback);ros::spin();return 0;
}

在仿真环境运行的基础上执行以下命令

 rosrun lidar_pkg lidar_node

运行结果为：

2.实现避障功能

 由于发布的速度在回调函数中使用，所以发布的变量是全局变量

ros::Publisher vel_pub;

所有代码如下：

#include<ros/ros.h>
#include<sensor_msgs/LaserScan.h>
#include<geometry_msgs/Twist.h>ros::Publisher vel_pub;void LidarCallback(const sensor_msgs::LaserScan msg)
{float fMidDist = msg.ranges[180];ROS_INFO("前方测距ranges[180]=%f米",fMidDist);geometry_msgs::Twist vel_cmd;if (fMidDist<1.5){vel_cmd.angular.z=0.3;}else{vel_cmd.linear.x=0.05;}vel_pub.publish(vel_cmd);
}int main(int argc, char *argv[])
{//设置中文编码setlocale(LC_ALL,"");//初始化节点ros::init(argc,argv,"lidar_node");ros::NodeHandle n;ros::Subscriber lidar_sub = n.subscribe("/scan",10,&LidarCallback);vel_pub=n.advertise<geometry_msgs::Twist>("/cmd_vel",10);ros::spin();return 0;
}

避障成功