ROSNOTE : 定义雷达数据，发送速度消息

 

 

 

 

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/*!******************************************************************
 @author     ZhangWanjie
 ********************************************************************/

#include <ros/ros.h>
#include <std_msgs/String.h>
//String.h是字符格式的定义文件，用来做文字输出
#include <sensor_msgs/LaserScan.h>
//LaserScan.h是激光雷达的数据格式定义文件，用来装载雷达数
#include <geometry_msgs/Twist.h>
//Twist.h是机器运动速度消息包的格式定义文件

ros::Publisher vel_pub;
//定义消息发布对象，会用这个发布对象向机器人核心节点发送速度控制消息包
static int nCount = 0;
//调整机器人转向动作的时长

//定义一个回调函数void lidarCallback()，用来处理激光雷达数据，雷达的测距数值会以参数的形式传递到这个回调函数里。
void lidarCallback(const sensor_msgs::LaserScan::ConstPtr& scan)
{
    int nNum = scan->ranges.size();
    
    int nMid = nNum/2;
    float fMidDist = scan->ranges[nMid];
    ROS_INFO("Point[%d] = %f", nMid, fMidDist); 

    if(nCount > 0)
    {
        nCount--;
        return;
    }

    geometry_msgs::Twist vel_cmd;
    //根据fMidDist的数值大小来对vel_cmd进行不同的赋值
    if(fMidDist > 1.5f)
    {
        vel_cmd.linear.x = 0.05;
    }
    else
    {
        vel_cmd.angular.z = 0.3;
        nCount = 50;
    }
    vel_pub.publish(vel_cmd);
}

int main(int argc, char** argv)
{
    ros::init(argc,argv,"wpb_home_lidar_behavior");
    
    ROS_INFO("wpb_home_lidar_behavior start!");

    ros::NodeHandle nh;
    
    ros::Subscriber lidar_sub = nh.subscribe("/scan", 10, &lidarCallback);
    //定义一个ros::NodeHandle节点句柄nh，并使用这个句柄向ROS核心节点订阅“/scan”主题的数据，回调函数设置为之前定义的lidarCallback()。
    vel_pub = nh.advertise<geometry_msgs::Twist>("/cmd_vel",10);
    //让其在主题“/cmd_vel”发布速度控制消息，启智ROS的核心节点会从这个主题获取vel_pub发布的消息，并控制机器人底盘执行消息包里的速度值。
    ros::spin();
    
}