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How can I use the data from the LaserScan.msg inside the callback function?

So I have this call back function where I want to do something with the range_max value. 

 void LaserCallback(const sensor_msgs::LaserScan::ConstPtr& scan){
   float x = range_max;

//and then use that for anything or do I have to do anything else before that line? 
}

someone at this (https://answers.ros.org/question/60239/how-to-extract-and-use-laser-data-from-scan-topic-in-ros-using-c/ )answer suggested something called AutoExp::processLaserScan, but how do I know which heades to include?

Thank you.

Asked by Sanat on 2019-03-01 08:39:01 UTC

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Answers

The answer you linked is just an example where the person didn't modify his code. AutoExp::processLaserScan just means that this person created a method processLaserScan (exactly how you defined LaserCallback) within a class named AutoExp.

The relevant part of the answer is :

//scan->ranges[] are laser readings

You need to use the field ranges to get the laser scan data. For your question, you want to use the field range_max so you just have to do this :

void LaserCallback(const sensor_msgs::LaserScan::ConstPtr& scan)
{
   float x = scan->range_max;
}

You can see here all the fields from sensor_msgs/LaserScan.msg.

Asked by Delb on 2019-03-01 09:17:21 UTC

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Quick answer:

float x = scan -> range_max;

The callback function receives a 'LaserScan' message as a parameter. In order to access its fields, you need to resolve/access it correctly.

Alternatively, were you to access, say the 'seq', int i = scan -> header.seq

In the answer linked, "scan->ranges[] are laser readings" refers to the data from the message that you would process.

Asked by harshal on 2019-03-01 09:21:37 UTC

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