[ros2run]: Segmentation fault

最新推荐文章于 2025-11-30 21:05:18 发布

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最新推荐文章于 2025-11-30 21:05:18 发布 · 342 阅读

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#c++ #学习 #机器人

获取激光雷达数据进行简易的导航代码如下

#include "rclcpp/rclcpp.hpp"
#include "sensor_msgs/msg/laser_scan.hpp"
#include "geometry_msgs/msg/twist.hpp"
#include "std_msgs/msg/string.hpp"

std::shared_ptr<rclcpp::Node> node;
rclcpp::Publisher<geometry_msgs::msg::Twist>::SharedPtr vel_publisher;

void liadr_data_callback(const sensor_msgs::msg::LaserScan::SharedPtr msg)
{
    int nNum = msg->ranges.size();
    auto nMid = nNum/2;
    auto Dis = msg->ranges[nMid];
    RCLCPP_INFO(node->get_logger(),"%d的距离是%f",nNum,Dis);

    geometry_msgs::msg::Twist vel_message;
    if (Dis>1.0)
    {
     vel_message.linear.x = 0.3;
    }
    else
    {
        vel_message.linear.x = 0;
        vel_message.angular.z = 0.5;
    }
    vel_publisher->publish(vel_message);

}


int main(int argc, char *argv[])
{
    rclcpp::init(argc,argv);
    auto node = std::make_shared<rclcpp::Node>("lidar_behavior_node");
    auto vel_publisher = node->create_publisher<g