LIDAR

• 04_scan.ipynb

• 셀 실행시키기

  Ctrl + Enter

import rospy
from sensor_msgs.msg import LaserScan

• rospy 모듈 가져오기

• sensor_msgs.msg 모듈에서 LaserScan 가져오기

def process_scan(msg):
    rospy.loginfo("data: {}".format(msg))

def start_node():
    rospy.init_node('zetabot')
    rospy.Subscriber("scan", LaserScan, process_scan)
    rospy.spin()

try:
    start_node()
except rospy.ROSInterruptException as err:
    print(err)

• zetabot Node 생성

• scan Topic Subscribe 및 Message 확인