neurali:ros_husky_laser_versione_20150801
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— | neurali:ros_husky_laser_versione_20150801 [2020/06/08 22:20] (current) – external edit 127.0.0.1 | ||
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+ | visualizza le distante ottenute dal laser in 8 direzioni (cercare la costante numerica 8) | ||
+ | <code cpp> | ||
+ | |||
+ | #include < | ||
+ | #include < | ||
+ | #include < | ||
+ | #include < | ||
+ | |||
+ | class DriverHusky | ||
+ | { | ||
+ | public: | ||
+ | DriverHusky(); | ||
+ | |||
+ | private: | ||
+ | void laserCallback(const sensor_msgs:: | ||
+ | |||
+ | ros:: | ||
+ | |||
+ | ros:: | ||
+ | ros:: | ||
+ | |||
+ | }; | ||
+ | |||
+ | |||
+ | DriverHusky:: | ||
+ | { | ||
+ | |||
+ | //vel_pub_ = nh_.advertise< | ||
+ | |||
+ | laser_sub_ = nh_.subscribe< | ||
+ | |||
+ | } | ||
+ | |||
+ | void DriverHusky:: | ||
+ | { | ||
+ | /* //riceve e trasforma da joy a vel | ||
+ | geometry_msgs:: | ||
+ | vel.angular = a_scale_*joy-> | ||
+ | vel.linear = l_scale_*joy-> | ||
+ | vel_pub_.publish(vel); | ||
+ | | ||
+ | unsigned int quantita = laser-> | ||
+ | for(unsigned int i=0; i< quantita; i=i+quantita/ | ||
+ | { | ||
+ | |||
+ | | ||
+ | } | ||
+ | |||
+ | std::cout << std:: | ||
+ | } | ||
+ | |||
+ | int main(int argc, char** argv) | ||
+ | { | ||
+ | |||
+ | ros:: | ||
+ | DriverHusky driver_hurky; | ||
+ | ros::Rate rate(10); | ||
+ | ros:: | ||
+ | } | ||
+ | </ |
neurali/ros_husky_laser_versione_20150801.txt · Last modified: 2020/06/08 22:20 by 127.0.0.1