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uploads/course-references/7d288277-c62d-4769-8be8-c36e4f0c8232.py

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+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()