# Ros2

**Repository Path**: daweibiao/ros2

## Basic Information

- **Project Name**: Ros2
- **Description**: No description available
- **Primary Language**: Unknown
- **License**: Not specified
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2025-09-22
- **Last Updated**: 2025-09-23

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# Ros2

#### 介绍
{**以下是 Gitee 平台说明，您可以替换此简介**
Gitee 是 OSCHINA 推出的基于 Git 的代码托管平台（同时支持 SVN）。专为开发者提供稳定、高效、安全的云端软件开发协作平台
无论是个人、团队、或是企业，都能够用 Gitee 实现代码托管、项目管理、协作开发。企业项目请看 [https://gitee.com/enterprises](https://gitee.com/enterprises)}

#### 软件架构
软件架构说明


#### 安装教程

1.  xxxx
2.  xxxx
3.  xxxx

#### 使用说明

1.  xxxx
2.  xxxx
3.  xxxx

#### 参与贡献

1.  Fork 本仓库
2.  新建 Feat_xxx 分支
3.  提交代码
4.  新建 Pull Request


#### 特技

1.  使用 Readme\_XXX.md 来支持不同的语言，例如 Readme\_en.md, Readme\_zh.md
2.  Gitee 官方博客 [blog.gitee.com](https://blog.gitee.com)
3.  你可以 [https://gitee.com/explore](https://gitee.com/explore) 这个地址来了解 Gitee 上的优秀开源项目
4.  [GVP](https://gitee.com/gvp) 全称是 Gitee 最有价值开源项目，是综合评定出的优秀开源项目
5.  Gitee 官方提供的使用手册 [https://gitee.com/help](https://gitee.com/help)
6.  Gitee 封面人物是一档用来展示 Gitee 会员风采的栏目 [https://gitee.com/gitee-stars/](https://gitee.com/gitee-stars/)

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#!usr/bin/env python
import rclpy
from rclpy.node import Node
from sensor_msgs.msg import LaserScan
from rclpy.qos import ReliabilityPolicy, QoSProfile
import random



class ObstacleDetectorNode(Node):
    def __init__(self):
        super().__init__('obstacle_detector_node')
        self.get_logger().info('obstacle_detector_node' + "Ready ...")
        self.subscriber = self.create_subscription(
            LaserScan,
            '/laser_scan',
            self.laserscan_callback,
            QoSProfile(depth=10, reliability=ReliabilityPolicy.RELIABLE))

    def laserscan_callback(self,msg):
        min_distance = min(msg.ranges)
        sectors = {
            "Right_Rear":(0,33),
            "Right": (34, 66),
            "Front_Right": (67, 100),
            "Front_Left": (101, 133),
            "Left": (134, 166),
            "Left_Rear": (167, 199)  
        }
        min_distances = {key: float('inf') for key in sectors.keys()}
        # Determine detected obstacles
        for sector, (start_idx, end_idx) in sectors.items():
        # Ensure the index range is within bounds and not empty
            if start_idx < len(msg.ranges) and end_idx < len(msg.ranges):
                sector_ranges = msg.ranges[start_idx:end_idx + 1]
                if sector_ranges:
                    min_distances[sector] = min(sector_ranges)

        # Log the minimum distances
        for sector, min_distance in min_distances.items():
            self.get_logger().info(f'{sector}: {min_distance:.2f} meters')

        # Define the threshold for obstacle detection
        obstacle_threshold = 0.8  # meters
        detections = {sector: min_distance < obstacle_threshold for sector, min_distance in min_distances.items()}
        if detections["Front_Left"] and detections["Front_Right"]:
            arbitrary_direction = "Right"
            action = "Selected Turn Arbitrary Direction "+arbitrary_direction        
        elif detections["Front_Left"] and not detections["Front_Right"]:
            action = "Turn Right to avoid obstacle on the front-left"
        elif detections["Front_Right"] and not detections["Front_Left"]:
            action = "Turn Left to avoid obstacle on the front-right"
        # Priority 2
        elif detections["Left"]:
            action = "Go Forwards turning slightly right to avoid obstacle on the left"
        elif detections["Right"]:
            action = "Go Forwards turning slightly left to avoid obstacle on the right"
        # Priority 3
        elif detections["Right_Rear"]:
            action = "Go Forwards, BUT DONT reverse Right"
        elif detections["Left_Rear"]:
            action = "Go Forwards, BUT DONT reverse left"
        else:
            action = "Go Forwards"


        self.get_logger().info(f'Minimum distance: {min_distance:.2f} meters')


def main(args=None):
    rclpy.init(args=args)
    node = ObstacleDetectorNode()
    rclpy.spin(node)
    rclpy.shutdown()

if __name__ == '__main__':
    main()

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