ROS2机器人激光雷达测距的C++代码

下面是一个使用ROS2中激光雷达数据进行距离测量的示例代码：

#include "rclcpp/rclcpp.hpp"
#include "sensor_msgs/msg/laser_scan.hpp"

class LaserScanSubscriber : public rclcpp::Node
{
public:
  LaserScanSubscriber() : Node("laser_scan_subscriber")
  {
    subscription_ = this->create_subscription<sensor_msgs::msg::LaserScan>(
      "/scan", 10, std::bind(&LaserScanSubscriber::scan_callback, this, std::placeholders::_1));
  }

private:
  void scan_callback(const sensor_msgs::msg::LaserScan::SharedPtr scan_msg) const
  {
    // 获取激光雷达数据
    std::vector<float> ranges = scan_msg->ranges;
    float range_min = scan_msg->range_min;
    float range_max = scan_msg->range_max;

    // 遍历所有激光点，计算距离并输出
    for (int i = 0; i < ranges.size(); i++)
    {
      float range = ranges[i];
      if (range > range_min && range < range_max)
      {
        RCLCPP_INFO(this->get_logger(), "Distance at %d degrees: %f meters", i, range);
      }
    }
  }

  rclcpp::Subscription<sensor_msgs::msg::LaserScan>::SharedPtr subscription_;
};

int main(int argc, char *argv[])
{
  rclcpp::init(argc, argv);
  rclcpp::spin(std::make_shared<LaserScanSubscriber>());
  rclcpp::shutdown();
  return 0;
}

这个代码创建了一个ROS2节点，订阅名为`/scan`的激光雷达数据，并在每个激光点处计算距离。可以根据需要修改节点名称和订阅主题名称。