ros激光雷达跟随C++

要实现ROS激光雷达的跟随，可以使用ROS中的导航堆栈（navigation stack），它可以帮助机器人规划路径并执行移动操作。下面是一个基本的C++程序示例，用于订阅激光雷达数据并执行基于障碍物规避的路径跟随。

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

// Callback function for laser scan data
void laserCallback(const sensor_msgs::LaserScan::ConstPtr& scan)
{
    // Initialize ROS node handle and publisher for velocity commands
    ros::NodeHandle nh;
    ros::Publisher vel_pub = nh.advertise<geometry_msgs::Twist>("cmd_vel", 1);

    // Initialize velocity command message
    geometry_msgs::Twist vel_cmd;
    vel_cmd.linear.x = 0.0;
    vel_cmd.angular.z = 0.0;

    // Calculate the distance to the closest obstacle
    float min_dist = scan->ranges[0];
    for (int i = 1; i < scan->ranges.size(); i++)
    {
        if (scan->ranges[i] < min_dist)
        {
            min_dist = scan->ranges[i];
        }
    }

    // Determine the direction of the closest obstacle
    if (min_dist > 0.5)
    {
        vel_cmd.linear.x = 0.5;
        vel_cmd.angular.z = 0.0;
    }
    else if (scan->ranges[0] < scan->ranges[scan->ranges.size()/2])
    {
        vel_cmd.linear.x = 0.0;
        vel_cmd.angular.z = -0.5;
    }
    else
    {
        vel_cmd.linear.x = 0.0;
        vel_cmd.angular.z = 0.5;
    }

    // Publish the velocity command message
    vel_pub.publish(vel_cmd);
}

int main(int argc, char** argv)
{
    // Initialize ROS node
    ros::init(argc, argv, "laser_follow");

    // Initialize ROS node handle and subscriber for laser scan data
    ros::NodeHandle nh;
    ros::Subscriber laser_sub = nh.subscribe<sensor_msgs::LaserScan>("scan", 1, laserCallback);

    // Spin ROS node
    ros::spin();

    return 0;
}

这个例子演示了如何订阅激光雷达数据并根据最近的障碍物规划机器人的运动。在这个例子中，我们使用ROS的geometry_msgs/Twist消息类型来发布机器人的速度命令。通过调整if-else语句中的速度和角速度值，可以改变机器人的运动方式。