帮我写一份司岚A1激光雷达获取最近物体距离并发布的C++代码

好的，以下是一份使用司岚A1激光雷达获取最近物体距离并发布的C++代码：

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

class LaserScanPublisher {
public:
    LaserScanPublisher() {
        // Set up ROS node handle and publisher
        ros::NodeHandle nh;
        laser_scan_pub = nh.advertise<sensor_msgs::LaserScan>("laser_scan", 1);

        // Set up subscriber to listen for laser scan data
        laser_scan_sub = nh.subscribe("scan", 1, &LaserScanPublisher::laserScanCallback, this);
    }

    void laserScanCallback(const sensor_msgs::LaserScan::ConstPtr& msg) {
        // Find minimum range in laser scan data
        float min_range = msg->range_max;
        for (const float& range : msg->ranges) {
            if (range < min_range) {
                min_range = range;
            }
        }

        // Create new laser scan message with only the minimum range
        sensor_msgs::LaserScan laser_scan_msg;
        laser_scan_msg.header.frame_id = msg->header.frame_id;
        laser_scan_msg.header.stamp = ros::Time::now();
        laser_scan_msg.angle_min = msg->angle_min;
        laser_scan_msg.angle_max = msg->angle_max;
        laser_scan_msg.angle_increment = msg->angle_increment;
        laser_scan_msg.time_increment = msg->time_increment;
        laser_scan_msg.scan_time = msg->scan_time;
        laser_scan_msg.range_min = min_range;
        laser_scan_msg.range_max = min_range;
        laser_scan_msg.ranges = {min_range};
        laser_scan_msg.intensities = {};

        // Publish new laser scan message
        laser_scan_pub.publish(laser_scan_msg);
    }

private:
    ros::Publisher laser_scan_pub;
    ros::Subscriber laser_scan_sub;
};

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

该代码使用了ROS（Robot Operating System）框架，通过订阅司岚A1激光雷达的“scan”话题来获取激光雷达的数据，然后找到最近物体的距离并发布到“laser_scan”话题。你可以将该代码保存为一个C++文件，并使用catkin工具进行编译和构建。当你运行该节点时，它将开始接收激光雷达数据并发布最近物体的距离。