30 lines
657 B
Python
30 lines
657 B
Python
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()
|