patch..

2026-08-03 14:03:00 +09:00
parent 5e7cffa901
commit b7e910dcf7
24 changed files with 1081 additions and 111 deletions
@@ -0,0 +1,13 @@
+# launch 파일 예제
+from launch import LaunchDescription
+from launch_ros.actions import Node
+
+def generate_launch_description():
+    return LaunchDescription([
+        Node(
+            package='slam_pkg',
+            executable='slam_node',
+            name='slam',
+            output='screen'
+        )
+    ])
@@ -0,0 +1,29 @@
+import rclpy
+from rclpy.node import Node
+from sensor_msgs.msg import LaserScan
+
+class SlamNode(Node):
+    def __init__(self):
+        super().__init__('slam_node')
+        self.subscription = \
+            self.create_subscription(
+                LaserScan,
+                '/scan',
+                self.listener_callback,
+                10)
+
+    def listener_callback(self, msg):
+        self.get_logger().info(
+            'Received scan data'
+        )
+        # SLAM 알고리즘 구현
+        pass
+
+def main(args=None):
+    rclpy.init(args=args)
+    node = SlamNode()
+    rclpy.spin(node)
+    rclpy.shutdown()
+
+if __name__ == '__main__':
+    main()
@@ -0,0 +1 @@
+Autonomy Studio LMS demo file