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00001 #!/usr/bin/python 00002 00003 PKG = 'laser_filters' # this package name 00004 import roslib; roslib.load_manifest(PKG) 00005 00006 import rospy 00007 from sensor_msgs.msg import LaserScan 00008 from Numeric import ones 00009 00010 def laser_test(): 00011 pub = rospy.Publisher('laser_scan', LaserScan) 00012 rospy.init_node('laser_test') 00013 laser_msg = LaserScan() 00014 00015 laser_msg.header.frame_id = 'laser' 00016 laser_msg.angle_min = -1.5 00017 laser_msg.angle_max = 1.5 00018 laser_msg.angle_increment = 0.1 00019 laser_msg.time_increment = 0.1 00020 laser_msg.scan_time = 0.1 00021 laser_msg.range_min = 0.5 00022 laser_msg.range_max = 1.5 00023 laser_msg.ranges = [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 9.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 0.1, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 5.0, 1.0] 00024 laser_msg.intensities = laser_msg.ranges 00025 00026 r = rospy.Rate(10) # 10hz 00027 while not rospy.is_shutdown(): 00028 laser_msg.header.stamp = rospy.get_rostime() 00029 pub.publish(laser_msg) 00030 r.sleep() 00031 00032 00033 if __name__ == '__main__': 00034 try: 00035 laser_test() 00036 except rospy.ROSInterruptException: pass 00037 00038 00039