funtional self drive

[goodgodgd]

#!/usr/bin/env python
from __future__ import print_function
import rospy
from geometry_msgs.msg import Twist
from sensor_msgs.msg import LaserScan

count = 0
publisher = None


def lds_callback(scan):
    global count
    global publisher
    print("scan[0]:", scan.ranges[0])
    turtle_vel = Twist()
    if count < 100:
        turtle_vel.linear.x = 0.1
        count += 1
    else:
        turtle_vel.linear.x = 0.0
    turtle_vel.angular.z = 0.0
    publisher.publish(turtle_vel)


def main():
    global publisher
    rospy.init_node('self_drive')
    publisher = rospy.Publisher('cmd_vel', Twist, queue_size=1)
    subscriber = rospy.Subscriber('scan', LaserScan, lds_callback)
    rospy.spin()

if __name__ == "__main__":
    main()