neurali:ros_husky_laser_versione_20150803
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neurali:ros_husky_laser_versione_20150803 [2015/08/03 21:12] – profpro | neurali:ros_husky_laser_versione_20150803 [2020/06/08 22:20] (current) – external edit 127.0.0.1 | ||
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+ | Trova il minimo di 9 misure | ||
+ | |||
+ | <code cpp> | ||
+ | #include < | ||
+ | #include < | ||
+ | #include < | ||
+ | #include < | ||
+ | #include < | ||
+ | #include < | ||
+ | |||
+ | class TeleopTurtle | ||
+ | { | ||
+ | public: | ||
+ | TeleopTurtle(); | ||
+ | |||
+ | private: | ||
+ | void laserCallback(const sensor_msgs:: | ||
+ | |||
+ | ros:: | ||
+ | |||
+ | //int linear_, angular_; | ||
+ | //double l_scale_, a_scale_; | ||
+ | ros:: | ||
+ | ros:: | ||
+ | |||
+ | }; | ||
+ | |||
+ | |||
+ | TeleopTurtle:: | ||
+ | { | ||
+ | /* | ||
+ | nh_.param(" | ||
+ | nh_.param(" | ||
+ | nh_.param(" | ||
+ | nh_.param(" | ||
+ | */ | ||
+ | |||
+ | //vel_pub_ = nh_.advertise< | ||
+ | |||
+ | laser_sub_ = nh_.subscribe< | ||
+ | |||
+ | } | ||
+ | |||
+ | void TeleopTurtle:: | ||
+ | { | ||
+ | /* //riceve e trasforma da joy a vel | ||
+ | geometry_msgs:: | ||
+ | vel.angular = a_scale_*joy-> | ||
+ | vel.linear = l_scale_*joy-> | ||
+ | vel_pub_.publish(vel); | ||
+ | |||
+ | //std::cout << laser-> | ||
+ | unsigned int quantita = laser-> | ||
+ | | ||
+ | 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++, | ||
+ | / | ||
+ | v[0], | ||
+ | { | ||
+ | copia[j]=round(10*(laser-> | ||
+ | // | ||
+ | } | ||
+ | | ||
+ | unsigned int* p_min = std:: | ||
+ | std::cout << " | ||
+ | std::cout << (p_min-& | ||
+ | } | ||
+ | |||
+ | int main(int argc, char** argv) | ||
+ | { | ||
+ | ros:: | ||
+ | TeleopTurtle teleop_turtle; | ||
+ | ros::Rate rate(10); | ||
+ | ros:: | ||
+ | } | ||
+ | </ |
neurali/ros_husky_laser_versione_20150803.txt · Last modified: 2020/06/08 22:20 by 127.0.0.1