自用qqqq

#!/usr/bin/env python
# coding:utf-8
import rospy
from sensor_msgs.msg import LaserScan

def scancallback(scan_data, file_handle):
    timestamp = scan_data.header.stamp  # 获取时间戳
    distance = scan_data.ranges[0]
    
    # 将时间戳和距离以制表符分隔写入文件
    file_handle.write("{0}.{1}\t{2}\n".format(timestamp.secs, timestamp.nsecs, distance))

def GetSDMData():
    # 替换为你的绝对路径
    file_path = "/home/tfc/ydlidar_ws/src/ydlidar_ros_driver/scripts/scan_data.txt"
    rospy.init_node('获取SDM数据', anonymous=True)  # ROS节点初始化
    rospy.Subscriber('/scan', LaserScan, scancallback, callback_args=open(file_path, "a"), queue_size=1000)
    rospy.spin()

if __name__ == '__main__':
    GetSDMData()