import rclpy
from sensor_msgs.msg import LaserScan
def scan_callback(msg):
for i, range in enumerate(msg.ranges):
angle = msg.angle_min + i * msg.angle_increment
x = range * math.cos(angle)
y = range * math.sin(angle)
print(f"Range[{i}]: {range:.2f}, Angle[{i}]: {angle:.2f}, X: {x:.2f}, Y: {y:.2f}")
def main(args=None):
rclpy.init(args=args)
node = rclpy.create_node('scan_listener')
subscriber = node.create_subscription(LaserScan, '/scan', scan_callback)
print("d")
rclpy.spin(node)
if __name__ == '__main__':
main()
无法读取
TypeError: create_subscription() missing 1 required positional argument: 'qos_profile'
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