帮我写一份司岚A1激光雷达获取最近物体距离和角度并发布的C++代码
时间: 2023-12-14 12:38:06 浏览: 35
好的,以下是一份获取最近物体距离和角度并发布的C++代码:
```c++
#include <ros/ros.h>
#include <sensor_msgs/LaserScan.h>
class LaserScanProcessor {
public:
LaserScanProcessor() {
// 初始化ROS节点
this->node_ = new ros::NodeHandle();
// 订阅激光雷达数据
this->scan_sub_ = this->node_->subscribe("/scan", 1, &LaserScanProcessor::scanCallback, this);
// 发布物体距离和角度
this->object_pub_ = this->node_->advertise<geometry_msgs::PointStamped>("/object", 1);
}
~LaserScanProcessor() {
delete this->node_;
}
void scanCallback(const sensor_msgs::LaserScan::ConstPtr& scan) {
float min_dist = std::numeric_limits<float>::infinity();
int min_idx = -1;
// 遍历激光雷达数据,找到最近的物体
for (size_t i = 0; i < scan->ranges.size(); ++i) {
float dist = scan->ranges[i];
if (std::isfinite(dist) && dist < min_dist) {
min_dist = dist;
min_idx = i;
}
}
// 如果找到了最近的物体
if (min_idx >= 0) {
// 计算物体相对于激光雷达的方位角
float angle = scan->angle_min + scan->angle_increment * min_idx;
// 发布物体距离和角度
geometry_msgs::PointStamped object;
object.header.stamp = ros::Time::now();
object.header.frame_id = scan->header.frame_id;
object.point.x = min_dist;
object.point.y = 0;
object.point.z = angle;
this->object_pub_.publish(object);
}
}
private:
ros::NodeHandle* node_;
ros::Subscriber scan_sub_;
ros::Publisher object_pub_;
};
int main(int argc, char** argv) {
ros::init(argc, argv, "laser_scan_processor");
LaserScanProcessor processor;
ros::spin();
return 0;
}
```
这份代码使用了ROS框架,订阅激光雷达数据,找到最近的物体并计算其相对于激光雷达的方位角,然后发布物体距离和角度。你需要在`scanCallback`函数中添加相应的代码来控制激光雷达的运动,以便能够覆盖整个场景,找到最近的物体。