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License: MIT License
남은 방학
일 수: 6월 6 + 7월 31 + 8월 31 = 68일
집에 있는 경우
W1 (06.24)
W2 (07.01)
W3 (07.08)
W4 (07.15)
W5 (7.22) 이후 (나중에 세부 작성)
#!/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()
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