基于 ROS 系统的智能清洁车自主路径规划与避障控制的代码

以下是一个基于ROS系统的智能清洁车自主路径规划与避障控制的代码示例，具体实现可能因应用场景不同而有所差异：

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

class Robot
{
public:
    Robot(){
        sub = n.subscribe("/scan", 1, &Robot::callback, this);
        pub = n.advertise<geometry_msgs::Twist>("/cmd_vel", 1);
        linear_vel = 0.2;
        angular_vel = 1.0;
    }

    void callback(const sensor_msgs::LaserScan::ConstPtr& msg){
        float min_angle = msg->angle_min;
        float max_angle = msg->angle_max;
        float angle_increment = msg->angle_increment;
        float range_min = msg->range_min;
        float range_max = msg->range_max;
        std::vector<float> ranges = msg->ranges;

        float front_obstacle_distance = std::numeric_limits<float>::infinity();
        float front_obstacle_angle = 0.0;

        for(int i=0; i<ranges.size(); i++){
            float angle = min_angle + i*angle_increment;
            float range = ranges[i];

            if(range < range_max && range > range_min){
                if(angle <= 0.1745 && angle >= -0.1745){ // front
                    if(range < front_obstacle_distance){
                        front_obstacle_distance = range;
                        front_obstacle_angle = angle;
                    }
                }
            }
        }

        geometry_msgs::Twist msg_twist;
        if(front_obstacle_distance < 1.0){
            msg_twist.linear.x = 0.0;
            msg_twist.angular.z = angular_vel;
        }
        else if(front_obstacle_distance < 2.0){
            msg_twist.linear.x = 0.5*linear_vel;
            msg_twist.angular.z = 0.5*angular_vel*front_obstacle_angle;
        }
        else{
            msg_twist.linear.x = linear_vel;
            msg_twist.angular.z = 0.0;
        }

        pub.publish(msg_twist);
    }

private:
    ros::NodeHandle n;
    ros::Subscriber sub;
    ros::Publisher pub;
    float linear_vel, angular_vel;
};

int main(int argc, char** argv){
    ros::init(argc, argv, "robot");
    Robot robot;
    ros::spin();
    return 0;
}

上述代码中，Robot类订阅了激光雷达的数据，并根据激光雷达数据计算出前方障碍物距离和角度。根据前方障碍物的距离和角度，决定机器人的运动方向（前进、左转、右转），并通过发布Twist消息控制机器人运动。