particle_filter.py 文件源码

def publish_scan(self, angles, ranges):
        ls = LaserScan()
        ls.header = Utils.make_header("laser", stamp=self.last_stamp)
        ls.angle_min = np.min(angles)
        ls.angle_max = np.max(angles)
        ls.angle_increment = np.abs(angles[0] - angles[1])
        ls.range_min = 0
        ls.range_max = np.max(ranges)
        ls.ranges = ranges
        self.pub_fake_scan.publish(ls)