def scan_callback(data):
laserscan_distance = LaserScanSplit()
laserscan_distance.stamp = rospy.Time.now()
distances = data.ranges
array_len = len(distances)
right_array = distances[0:array_len/3]
laserscan_distance.rightMin = np.nanmin(right_array)
center_array = distances[array_len/3:2*array_len/3]
laserscan_distance.centerMin = np.nanmin(center_array)
left_array = distances[2*array_len/3:]
laserscan_distance.leftMin = np.nanmin(left_array)
pub.publish(laserscan_distance)
vel_msg = Twist()
def closing():
# After the loop, stops the robot
vel_msg.linear.x = 0
vel_msg.linear.y = 0
vel_msg.linear.z = 0
vel_msg.angular.x = 0
vel_msg.angular.y = 0
vel_msg.angular.z = 0
# Force the robot to stop
velocity_publisher.publish(vel_msg)
distances = LaserScanSplit()
def scan_callback(data):
global distances
distances = data
def move():
global distances
# Starts a new node
rospy.init_node('robotont_velocity_publisher', anonymous=True)
rospy.Subscriber('/scan_to_distance', LaserScanSplit, scan_callback)
vel_msg.linear.x = 0