ROS-编写节点订阅激光雷达scan话题

１编写激光雷达订阅节点
　　接上节的gazebo激光雷达插件，编写节点订阅/scan话题，方便后期数据处理，节点代码如下，主要是头文件和消息类型参数定义：

#include "ros/ros.h"
#include <iostream>
#include <fstream>   
#include <sensor_msgs/LaserScan.h>
//HAO Qi

void laserCallback(const sensor_msgs::LaserScan::ConstPtr& msg)
{
    std::vector<float> ranges=msg->ranges;
    std::cout<< ranges.size()<<" ";

    std::cout<< msg->header.stamp<<" ";
    std::cout<< msg->header.frame_id<<" ";
    std::cout<< msg->angle_min<<" ";
    std::cout<< msg->angle_max<<" ";
	std::cout<< msg->angle_increment<<" ";
	std::cout<< msg->time_increment<<" ";
	std::cout<< "dis_ranges:"<<  msg->range_min<<" ";
	std::cout<< msg->range_max<<" ";
    std::cout<<"\n";
}
int main(int argc, char **argv)
{

    ros::init(argc, argv, "laser_receive");
    ros::NodeHandle nh;
    ros::Subscriber sub = nh.subscribe("/scan", 1, laserCallback);
    ros::spin();

    return 0;
}

２运行节点及终端输出

720 5591.569000000 hokuyo_link -1.5708 1.5708 0.0043694 0 dis_ranges:0.1 10 
720 5591.594000000 hokuyo_link -1.5708 1.5708 0.0043694 0 dis_ranges:0.1 10 
720 5591.619000000 hokuyo_link -1.5708 1.5708 0.0043694 0 dis_ranges:0.1 10 
720 5591.644000000 hokuyo_link -1.5708 1.5708 0.0043694 0 dis_ranges:0.1 10 
720 5591.694000000 hokuyo_link -1.5708 1.5708 0.0043694 0 dis_ranges:0.1 10 
720 5591.719000000 hokuyo_link -1.5708 1.5708 0.0043694 0 dis_ranges:0.1 10 
720 5591.744000000 hokuyo_link -1.5708 1.5708 0.0043694 0 dis_ranges:0.1 10 
720 5591.769000000 hokuyo_link -1.5708 1.5708 0.0043694 0 dis_ranges:0.1 10 
720 5591.794000000 hokuyo_link -1.5708 1.5708 0.0043694 0 dis_ranges:0.1 10 
720 5591.819000000 hokuyo_link -1.5708 1.5708 0.0043694 0 dis_ranges:0.1 10 
720 5591.870000000 hokuyo_link -1.5708 1.5708 0.0043694 0 dis_ranges:0.1 10 
720 5591.894000000 hokuyo_link -1.5708 1.5708 0.0043694 0 dis_ranges:0.1 10 
720 5591.919000000 hokuyo_link -1.5708 1.5708 0.0043694 0 dis_ranges:0.1 10 
720 5591.944000000 hokuyo_link -1.5708 1.5708 0.0043694 0 dis_ranges:0.1 10 
720 5591.969000000 hokuyo_link -1.5708 1.5708 0.0043694 0 dis_ranges:0.1 10 
720 5591.995000000 hokuyo_link -1.5708 1.5708 0.0043694 0 dis_ranges:0.1 10 
720 5592.019000000 hokuyo_link -1.5708 1.5708 0.0043694 0 dis_ranges:0.1 10 
720 5592.044000000 hokuyo_link -1.5708 1.5708 0.0043694 0 dis_ranges:0.1 10 
720 5592.069000000 hokuyo_link -1.5708 1.5708 0.0043694 0 dis_ranges:0.1 10

ROS-编写节点订阅激光雷达scan话题
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