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LIDAR_AL.py
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LIDAR_AL.py
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#!/usr/bin/env python
import rospy
from sensor_msgs.msg import LaserScan
import numpy as np
import math
import serial
import time
# Define the serial port and baud rate for communication with Arduino
serial_port = '/dev/ttyACM0' # Replace with your Arduino's serial port
baud_rate = 9600
# Initialize the serial connection
ser = serial.Serial(serial_port, baud_rate)
time.sleep(2) # Allow time for the Arduino to establish the serial connection
def lidar_callback(scan):
# Access the raw lidar data
ranges = scan.ranges
angles = scan.angle_min
angle_increment = scan.angle_increment
min_dist=65536
min_angle=0
# Iterate through the range and angle data
for i in range(len(ranges)):
angle = angles + i * angle_increment
distance = ranges[i]
# Scale the angle from 0 to 360 degrees
angle_degrees = math.degrees(angle)
if angle_degrees < 0:
angle_degrees += 360
# Print angle and distance
#print("Angle:", angle_degrees, "Distance:", distance)
#determine the min angle
if(distance<min_dist):
min_dist=distance
min_angle=angle_degrees
print("MIN Angle:",min_angle," min dist:",min_dist)
angle_str = str(min_angle)
distance_str = str(min_dist)
data = angle_str + ',' + distance_str + '\n'
ser.write(data.encode())
def lidar_listener():
rospy.init_node('lidar_listener', anonymous=True)
rospy.Subscriber('/scan', LaserScan, lidar_callback)
rospy.spin()
if __name__ == '__main__':
lidar_listener()