思岚S2激光雷达4-rplidar_ros-master修改保存csv格式数据

主要是参考这篇博文：
https://blog.csdn.net/alsj123456/article/details/109408165?spm=1001.2014.3001.5502
1.路径：主文件夹/catkin_ws/src/rplidar_ros-master/src
找到client.cpp
（下图为修改过的，没修改之前里面只有两个文件：client.cpp和node.cpp）

2.按照上方那个链接修改client.cpp里面的代码：
（下面代码来源于https://blog.csdn.net/alsj123456/article/details/109408165?spm=1001.2014.3001.5502
（1）未修改之前：

#include "ros/ros.h"
#include "sensor_msgs/LaserScan.h"
#define RAD2DEG(x) ((x)*180./M_PI)

void scanCallback(const sensor_msgs::LaserScan::ConstPtr& scan)
{
    int count = scan->scan_time / scan->time_increment;//一圈359个点
    ROS_INFO("I heard a laser scan %s[%d]:", scan->header.frame_id.c_str(), count);
    ROS_INFO("angle_range, %f, %f", RAD2DEG(scan->angle_min), RAD2DEG(scan->angle_max));//输出信息
    for(int i = 0; i < count; i++) {
        float degree = RAD2DEG(scan->angle_min + scan->angle_increment * i);
        ROS_INFO(": [%f, %f]", degree, scan->ranges[i]);//输出角度和距离数据
    }
}

int main(int argc, char **argv)
{
    ros::init(argc, argv, "rplidar_node_client");
    ros::NodeHandle n;
    ros::Subscriber sub = n.subscribe<sensor_msgs::LaserScan>("/scan", 1000, scanCallback);
    ros::spin();
    return 0;
}

（2）修改之后

#include "ros/ros.h"
#include "sensor_msgs/LaserScan.h"

#include "fstream"  /**/
#include "string"  /**/

#define RAD2DEG(x) ((x)*180./M_PI)

using namespace std;  /**/

void scanCallback(const sensor_msgs::LaserScan::ConstPtr& scan)
{
    int count = scan->scan_time / scan->time_increment;
    ROS_INFO("I heard a laser scan %s[%d]:", scan->header.frame_id.c_str(), count);
    ROS_INFO("angle_range, %f, %f", RAD2DEG(scan->angle_min), RAD2DEG(scan->angle_max));

    ofstream oFile;  /**/
    oFile.open("leidadate.csv",ios::out|ios::trunc);  /**/
  
    for(int i = 0; i < count; i++) {
        float degree = RAD2DEG(scan->angle_min + scan->angle_increment * i);
        ROS_INFO(": [%f, %f]", degree, scan->ranges[i]);
        oFile<< degree <<","<< scan->ranges[i] <<endl;  /**/
    }
    oFile.close();    /**/
}

int main(int argc, char **argv)
{
    ros::init(argc, argv, "rplidar_node_client");
    ros::NodeHandle n;

    ros::Subscriber sub = n.subscribe<sensor_msgs::LaserScan>("/scan", 1000, scanCallback);

    ros::spin();

    return 0;
}

3.保存之后重新编译工作空间
1）回到工作空间catkin_ws中，右键选择在终端打开

（2）打开后输入catkin_make，然后回车

4.将雷达连接上电脑
5.设备设置与执行测试
（1）Ctrl+Alt+T打开终端，输入以下指令然后回车设置rplidar设备的权限。

KERNEL=="ttyUSB*", MODE="0666"

（2）输入以下指令然后回车检查rplidar串口的权限。

ls -l /dev |grep ttyUSB

（3）输入以下指令添加写入权限：（我这里是/dev/ttyUSB0）

sudo chmod 666 /dev/ttyUSB0

回车后输入密码，再回车

6.输入以下指令然后回车启动rplidar节点并运行rplidar客户端进程以打印原始扫描结果。

roslaunch rplidar_ros rplidar_s2.launch

（ 另附其它型号的雷达指令：

roslaunch rplidar_ros rplidar.launch (for RPLIDAR A1/A2)

roslaunch rplidar_ros rplidar_a3.launch (for RPLIDAR A3)

roslaunch rplidar_ros rplidar_s1.launch (for RPLIDAR S1)

roslaunch rplidar_ros rplidar_s2.launch (for RPLIDAR S2)

Ctrl+Alt+T打开另一个终端，在里面输入以下指令（太快了没有截到，下图是效果，注意不要关掉上面那句指令）：

rosrun rplidar_ros rplidarNodeClient

Ctrl+C可以结束
7.在主文件夹里面找到leidadate.csv