#include?
#include?
#include?
#include?“ros/ros.h“
#include?“std_msgs/String.h“
#include?“sensor_msgs/LaserScan.h“
#include?“uart_driver.h“
using?namespace?std;

int?startOrStop?=?1;	//?1是start，0是stop
pthread_mutex_t?mutex?=?PTHREAD_MUTEX_INITIALIZER;

void?publish_scan（ros::Publisher?*pub?double?*dist?int?count?ros::Time?start?double?scan_time）
{
	static?int?scan_count?=?0;
	sensor_msgs::LaserScan?scan_msg;
	scan_msg.header.stamp?=?start;
	scan_msg.header.frame_id?=?“laser“;
	scan_count++;

	scan_msg.angle_min?=?3.1415926;
	scan_msg.angle_max?=?-3.1415926;
	scan_msg.angle_increment?=?（scan_msg.angle_max?-?scan_msg.angle_min）?/?（double）（count?-?1）;
	scan_msg.scan_time?=?scan_time;
	scan_msg.time_increment?=?scan_time?/?（double）（count?-?1）;
	
	scan_msg.range_min?=?0.15;
	scan_msg.range_max?=?6.0;

	scan_msg.intensities.resize（count）;
	scan_msg.ranges.resize（count）;


	for?（int?i?=?0;?i?	{
		if?（dist[i]?==?0.0）
			scan_msg.ranges[i]?=?std::numeric_limits::infinity（）;
		else
			scan_msg.ranges[i]?=?dist[i]?/?1000.0;
		scan_msg.intensities[i]?=?0;
	}
	pub->publish（scan_msg）;
}

void?startStopCB（const?std_msgs::Int32ConstPtr?msg）
{
	pthread_mutex_lock（&mutex）;
	startOrStop?=?msg->data;
	pthread_mutex_unlock（&mutex）;
}

int?main（int?argv?char?**argc）
{
	ros::init（argv?argc?“talker“）;
	ros::NodeHandle?n;

	ros::Publisher?scan_pub?=?n.advertise（“scan“?1000）;
	ros::Subscriber?stop_sub?=?n.subscribe（“startOrStop“?10?startStopCB）;

	io_driver?driver;
??	int?ret?=?driver.OpenSerial（B230400）;
????????driver.StartScan（）;
	bool?isStarted?=?true;
	
	double?angle[360?*?2];
	double?distance[360?*?2];
	double?data[360?*?2];
	double?speed;
	int?count?=?0;
		
	ros::Time?starts?=?ros::Time::now（）;
	ros::Time?ends?=?ros::Time::now（）;
	ROS_INFO（“talker....“）;
	while（ros::ok（））
	{
		ros::spinOnce（）;

		pthread_mutex_lock（&mutex）;
		if（isStarted?&&?0?==?startOrStop）?//?當前正在掃描且要求停止
		{
			ROS_INFO（“stop“）;
			driver.StopScan（）;
			isStarted?=?false;
		}
		else?if（!isStarted?&&?1?==?startOrStop）	//?當前未掃描且要求開始掃描
		{
			ROS_INFO（“start“）;
			driver.StartScan（）;
			isStarted?=?true;
		}
		pthread_mutex_unlock（&mutex）;

		ROS_INFO（“%s“?isStarted???“Started“:“Stopped“）;
		if（!isStarted）
			continue;


		memset（data?0?sizeof（data））;
		int?ret?=?driver.GetScanData（angle?distance?PACKLEN?&speed）;
		for?（int?i?=?0;?i?		{
			data[（int）（angle[i]+0.5）]?=?distance[i];
		}
		ends?=?ros::Time::now（）;
		float?scan_duration?=?（ends?-?starts）.toSec（）?*?1e-3;
		publish_scan（&scan_pub?data?360?starts?scan_duration）;
		starts?=?ends;
	}
	return?0;
}

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----

?????文件???????3469??2016-11-30?20:27??LS01C_ROS\talker\.cproject

?????文件????????807??2016-11-30?20:27??LS01C_ROS\talker\.project

?????文件????????321??2016-11-30?20:27??LS01C_ROS\talker\CMakeLists.txt

?????文件?????????72??2016-11-30?20:27??LS01C_ROS\talker\launch\talker.launch

?????文件???????2098??2016-11-30?20:27??LS01C_ROS\talker\package.xml

?????文件???????2734??2016-11-30?20:27??LS01C_ROS\talker\src\talker.cpp

?????文件???????2744??2016-11-30?20:27??LS01C_ROS\talker\src\talker.cpp~

?????文件??????19179??2016-11-30?20:27??LS01C_ROS\talker\src\uart_driver.cpp

?????文件???????1974??2016-11-30?20:27??LS01C_ROS\talker\src\uart_driver.h

????..AD...?????????0??2016-11-30?20:27??LS01C_ROS\talker\include\talker

????..AD...?????????0??2016-11-30?20:27??LS01C_ROS\talker\include

????..AD...?????????0??2016-11-30?20:27??LS01C_ROS\talker\launch

????..AD...?????????0??2016-11-30?20:27??LS01C_ROS\talker\src

????..AD...?????????0??2016-11-30?20:27??LS01C_ROS\talker

????..AD...?????????0??2016-11-30?20:29??LS01C_ROS

-----------?---------??----------?-----??----

????????????????33398????????????????????15