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neurali:ros_husky_laser_versione_20150803

Trova il minimo di 9 misure

#include <ros/ros.h>
#include <geometry_msgs/Twist.h>
#include <sensor_msgs/LaserScan.h>
#include <iostream>
#include <algorithm> /*min_element*/
#include <cmath> /* round*/
 
class TeleopTurtle
{
public:
  TeleopTurtle();
 
private:
  void laserCallback(const sensor_msgs::LaserScan::ConstPtr& laser);
 
  ros::NodeHandle nh_;
 
  //int linear_, angular_;
  //double l_scale_, a_scale_;
  ros::Publisher vel_pub_;
  ros::Subscriber laser_sub_;
 
};
 
 
TeleopTurtle::TeleopTurtle()
{
 /*
  nh_.param("axis_linear", linear_, linear_);
  nh_.param("axis_angular", angular_, angular_);
  nh_.param("scale_angular", a_scale_, a_scale_);
  nh_.param("scale_linear", l_scale_, l_scale_);
 */
 
  //vel_pub_ = nh_.advertise<geometry_msgs::Twist>("cmd_vel", 1);
 
  laser_sub_ = nh_.subscribe<sensor_msgs::LaserScan>("/scan", 10, &TeleopTurtle::laserCallback, this);
 
}
 
void TeleopTurtle::laserCallback(const sensor_msgs::LaserScan::ConstPtr& laser)
{ 
/*  //riceve e trasforma da joy a vel
  geometry_msgs::Twist vel;
  vel.angular = a_scale_*joy->axes[angular_];
  vel.linear = l_scale_*joy->axes[linear_];
  vel_pub_.publish(vel);*/ 
 
  //std::cout << laser->range_min << "," << laser->range_max << " - "; //0.1 - 6
  unsigned int quantita = laser->ranges.size(); // 720 valori, compresi tra -90°,+90°: troppi.
 
  unsigned int copia[9]; // le distanze si misurano in dm, da adesso in poi. Sono intere e più stabili
 
  for(unsigned int i=0,j=0; i < quantita; j++,i=i+quantita/8-1) 
  /*poiche' quantita e' multiplo di 8 , 360, allora otterro' 9 valori:
  v[0],v[44],v[89],v[134],v[179],v[224],v[269],v[314],v[359]*/
  {
        copia[j]=round(10*(laser->ranges[i])); // cast, altrimenti il valore oscilla pure... 
       //std::cout << copia[j] << "|"; //debug
  }
 
    unsigned int* p_min = std::min_element(&(copia[0]),&(copia[8]));
    std::cout << "o" << ": "<< round(copia[4]) << std::endl;          //front view
    std::cout << (p_min-&(copia[0])) << ": "<< (*p_min) << std::endl; //posiz. minimo
}
 
int main(int argc, char** argv)
{ 
  ros::init(argc, argv, "husky_driver");
  TeleopTurtle teleop_turtle;
  ros::Rate rate(10);  //aggiunto ma non cambia
  ros::spin();
}
neurali/ros_husky_laser_versione_20150803.txt · Last modified: 2020/06/08 22:20 (external edit)