思岚S2激光雷达5-雷达数据实时保存

依旧是参照这位大神的代码：
[https://blog.csdn.net/alsj123456/article/details/109411413?spm=1001.2014.3001.5502]

对应思岚S2激光雷达4-rplidar_ros-master修改保存csv格式数据里面的步骤，其余都不变，只改client.cpp里面的代码：

#include "ros/ros.h"
#include "sensor_msgs/LaserScan.h"
/**/#include "fstream"
/**/#include "string"
/**/#include <stdio.h> 
/**/#include <time.h>
/**/#include <unistd.h>
#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));
    /**/time_t timep;
    /**/struct tm*p;
    /**/char name[256]={0};
    /**/time(&timep);	
    /**/p = localtime(&timep);
    /**/sprintf(name, "%d.%d.%d %d:%02d:%02d.csv",1900+p->tm_year,1+p->tm_mon,p->tm_mday,p->tm_hour,p->tm_min,p->tm_sec);
    /**/ofstream oFile;
    /**/oFile.open(name,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;
}
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原文链接：https://blog.csdn.net/alsj123456/article/details/109411413

我这里client_1.cpp是思岚S2激光雷达4里面的代码
client_yuanshi.cpp是官方给的原始代码
client.cpp是按照上面修改的代码

重新编译之后主文件夹里面多了三个文件：
2022.6.18 17:12:46.csv
2022.6.18 17:12:47.csv
2022.6.18 17:12:48.csv