ROS Programming: Building Powerful Robots

Accessing the laser data and modifying it

Now, we are going to make a node get the laser data, do something with it, and publish the new data. Perhaps, this will be useful at a later date, and with this example, you will learn how to do it.

Copy the following code snippet to the c8_laserscan.cpp file in your /chapter8_tutorials/src directory:

#include <ros/ros.h> 
#include "std_msgs/String.h" 
#include <sensor_msgs/LaserScan.h> 
 
#include<stdio.h> 
using namespace std; 
class Scan2{ 
  public: 
  Scan2(); 
  private: 
  ros::NodeHandle n; 
  ros::Publisher scan_pub; 
  ros::Subscriber scan_sub; 
  void scanCallBack(const sensor_msgs::LaserScan::ConstPtr&  scan2); }; Scan2::Scan2() { scan_pub = n.advertise<sensor_msgs::LaserScan>("/scan2",1); scan_sub = n.subscribe<sensor_msgs::LaserScan>("/scan",1, ...