Difference between revisions of "HamsterPython"
From cogniteam
| Line 1: | Line 1: | ||
| + | <syntaxhighlight lang="python" line='line'> | ||
#!/usr/bin/env python | #!/usr/bin/env python | ||
import rospy | import rospy | ||
| Line 18: | Line 19: | ||
#The agent number is printed on the Hamster cover | #The agent number is printed on the Hamster cover | ||
sub = rospy.Subscriber('/agent14/scan', LaserScan, callback) | sub = rospy.Subscriber('/agent14/scan', LaserScan, callback) | ||
| + | rospy.spin() | ||
| − | + | </syntaxhighlight> | |
| − | |||
Revision as of 13:35, 19 March 2019
<syntaxhighlight lang="python" line='line'>
- !/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()
</syntaxhighlight>
