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ObstacleAvoider.cpp
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ObstacleAvoider.cpp
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#include "my_package/ObstacleAvoider.hpp"
#define MAX_RANGE 0.15
ObstacleAvoider::ObstacleAvoider() : Node("obstacle_avoider") {
publisher_ = create_publisher<geometry_msgs::msg::Twist>("/cmd_vel", 1);
left_sensor_sub_ = create_subscription<sensor_msgs::msg::Range>(
"/left_sensor", 1,
[this](const sensor_msgs::msg::Range::SharedPtr msg){
return this->leftSensorCallback(msg);
}
);
right_sensor_sub_ = create_subscription<sensor_msgs::msg::Range>(
"/right_sensor", 1,
[this](const sensor_msgs::msg::Range::SharedPtr msg){
return this->rightSensorCallback(msg);
}
);
}
void ObstacleAvoider::leftSensorCallback(
const sensor_msgs::msg::Range::SharedPtr msg) {
left_sensor_value = msg->range;
}
void ObstacleAvoider::rightSensorCallback(
const sensor_msgs::msg::Range::SharedPtr msg) {
right_sensor_value = msg->range;
auto command_message = std::make_unique<geometry_msgs::msg::Twist>();
command_message->linear.x = 0.1;
if (left_sensor_value < 0.9 * MAX_RANGE ||
right_sensor_value < 0.9 * MAX_RANGE) {
command_message->angular.z = -2.0;
}
publisher_->publish(std::move(command_message));
}
int main(int argc, char *argv[]) {
rclcpp::init(argc, argv);
auto avoider = std::make_shared<ObstacleAvoider>();
rclcpp::spin(avoider);
rclcpp::shutdown();
return 0;
}