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laseraction.py
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laseraction.py
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#!/usr/bin/env python
import roslib
import rospy
import math
import random
from sensor_msgs.msg import LaserScan
class LaserAction:
left_laser = 1
right_laser = 1
center_laser = 1
nearest_section = -1
_const_sections_1 = None
_const_sections_2 = None
_sensor_data = None
def __init__(self):
self.laser_sub = rospy.Subscriber('/scan', LaserScan, self.laser_detection)
def laser_detection(self, laser_scanner):
self.left_laser = 1
self.right_laser = 1
self.center_laser = 1
self._sensor_data = len(laser_scanner.ranges)
self._const_sections_1 = self._sensor_data / 3
self._const_sections_2 = self._const_sections_1 * 2
for value in range (0, self._sensor_data):
if 0.001 < laser_scanner.ranges[value] < 1.000:
if 0 < value < self._const_sections_1:
self.right_laser = min(self.right_laser, laser_scanner.ranges[value])
elif self._const_sections_1 < value < self._const_sections_2:
self.center_laser = min(self.center_laser, laser_scanner.ranges[value])
elif self._const_sections_2 < value < self._sensor_data:
self.left_laser = min(self.left_laser, laser_scanner.ranges[value])
#debugg laser
rospy.loginfo("laser right: %f"% self.right_laser)
rospy.loginfo("laser center: %f"% self.center_laser)
rospy.loginfo("laser left: %f\n"% self.left_laser)
self.nearest_section = min(self.left_laser, self.right_laser, self.center_laser)
if __name__ == '__main__':
rospy.init_node('laser_action_subscriber', anonymous = True)
laser_action = LaserAction()
rospy.spin()