ROS-代码模拟激光数据

创建功能包

cd ~/catkin_ws/src
catkin_create_pkg laser std_msgs roscpp

创建节点

cd ~/catkin_ws/src/laser/src
touch analoglaser.cpp

模拟激光节点cpp

#include <ros/ros.h>
#include <sensor_msgs/LaserScan.h>

int main(int argc, char** argv)
{
    ros::init(argc, argv, "laser_scan_publisher");

    ros::NodeHandle n;

    ros::Publisher scan_pub = n.advertise<sensor_msgs::LaserScan>("scan", 50);

    unsigned int num_readings = 1000;
    double laser_frequency = 40;
    double ranges[num_readings];
    double intensities[num_readings];

    int count = 5;

    ros::Rate r(1.0);

    while (n.ok())
    {
        //generate some fake data for our laser scan
        for (unsigned int i = 0; i < num_readings; ++i)
        {
            ranges[i] = count;
            intensities[i] = 100 + count;
        }
        ros::Time scan_time = ros::Time::now();

        //populate the LaserScan message
        sensor_msgs::LaserScan scan;
        scan.header.stamp = scan_time;
        scan.header.frame_id = "base_scan";
        scan.angle_min = -1.57;
        scan.angle_max = 1.57;
        scan.angle_increment = 3.14 / num_readings;
        scan.time_increment = (1 / laser_frequency) / (num_readings);
        scan.range_min = 0.0;
        scan.range_max = 100.0;
        scan.ranges.resize(num_readings);
        scan.intensities.resize(num_readings);
        for (unsigned int i = 0; i < num_readings; ++i)
        {
            scan.ranges[i] = ranges[i];
            scan.intensities[i] = intensities[i];
        }

        scan_pub.publish(scan);

        

        r.sleep();
    }
}

修改CMakeLists.txt

vim ~/catkin_ws/src/laser/CMakeLists.txt
在文件末尾添加如下语句
add_executable(analoglaser src/analoglaser.cpp)
target_link_libraries(analoglaser ${catkin_LIBRARIES})

编译节点

cd ~/catkin_ws
catkin_make

参考资料：

https://www.cnblogs.com/21207-iHome/p/7840129.html