Difference between revisions of "HamsterPython"
From cogniteam
(Created page with "Test") |
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| − | + | #!/usr/bin/env python | |
| + | import rospy | ||
| + | from sensor_msgs.msg import LaserScan | ||
| + | |||
| + | def is_free(ranges ,start_index, end_index ,min_distance): | ||
| + | s_ranges = ranges[start_index:end_index] | ||
| + | b_ranges = [i for i in s_ranges if i <= min_distance] | ||
| + | if len(b_ranges) > 1 :print "BLOCKED" | ||
| + | else : print "FREE" | ||
| + | |||
| + | |||
| + | def callback(msg): | ||
| + | is_free(msg.ranges,160,200,0.2) | ||
| + | |||
| + | rospy.init_node('scan_values') | ||
| + | |||
| + | #Put your Hamster number instead of agent<number> | ||
| + | #The agent number is printed on the Hamster cover | ||
| + | sub = rospy.Subscriber('/agent14/scan', LaserScan, callback) | ||
| + | |||
| + | |||
| + | rospy.spin() | ||
Revision as of 13:34, 19 March 2019
- !/usr/bin/env python
import rospy from sensor_msgs.msg import LaserScan
def is_free(ranges ,start_index, end_index ,min_distance): s_ranges = ranges[start_index:end_index] b_ranges = [i for i in s_ranges if i <= min_distance] if len(b_ranges) > 1 :print "BLOCKED" else : print "FREE"
def callback(msg):
is_free(msg.ranges,160,200,0.2)
rospy.init_node('scan_values')
- Put your Hamster number instead of agent<number>
- The agent number is printed on the Hamster cover
sub = rospy.Subscriber('/agent14/scan', LaserScan, callback)
rospy.spin()
