一、使用开源项目demo wpr_simulation

roslaunch wpr_simulation wpb_simple.launch

二、代码实现

#include "ros/ros.h"
#include "sensor_msgs/LaserScan.h"

void LidarCallback(const sensor_msgs::LaserScan msg)
{
    float fMidDist =msg.ranges[180];
    // 因为机器人的正前方是180 所以取[180]
    ROS_INFO("前方测距 range[180] = %f m",fMidDist);
}


int main(int argc,char *argv[])
{
    ros::init(argc,argv,"lidar_node");
    ros::NodeHandle n;
    ros::Subscriber lidar_sub=n.subscribe("/scan",10,&LidarCallback);

    ros::spin();

    return 0;
}