localization.py 文件源码

def build_laser_scan(self, ranges):
        result = LaserScan()
        result.header.stamp = rospy.Time.now()
        result.angle_min = -almath.PI
        result.angle_max = almath.PI
        if len(ranges[1]) > 0:
            result.angle_increment = (result.angle_max - result.angle_min) / len(ranges[1])
        result.range_min = 0.0
        result.range_max = ranges[0]
        for range_it in ranges[1]:
            result.ranges.append(range_it[1])
        return result

    # do it!