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()