Mini PA: Filter Scan

Plan for today

• This lab will be a guided team programming session.
• Work on it with your Teammate
• You can use a breakout room for privacy
• Invite one of us over to help if needed
• Call us in when you are done

Mini-PA: Filter Scan

1. Write a node that subscribes to /scan and publishes a new topic /lidar
2. /lidar’s message is a custom message called “ScanFiltered.msg”
3. The data from /scan is cleaned and filtered mapped based on parameters
4. And published as /scan_filtered
5. Parameter is: NUM_SLICES: how many slices you want in the result
6. Lidar.msg will contain an array NUM_SLICES with that many slices
7. And the filtered and cleaned “average” distance in the direction of the slice
8. Tricky: It would be nice if Slice 0 always is “forward”
9. Figure out a way to visualize the result

Tips

• Here’s a tutorial on creating a custom message
• In your code, you will need to create a node, a subscriber to /scan and a publisher to /scan_filtered
• You don’t need a main loop, just a call to rospy.spin()