HamsterPython

1. !/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')

1. Put your Hamster number instead of agent<number>
2. The agent number is printed on the Hamster cover

sub = rospy.Subscriber('/agent14/scan', LaserScan, callback)

rospy.spin()