2D LIDAR closest object follower

A simple script to receive 2D lidar measurements, and head the robot to the closest obstacle.

Subscribed Topics

• scan: LaserScan

Published Topics

• /hoverboard_velocity_controller/cmd_vel: Twist
• /arrow_marker: Marker (Points to the closest obstacle)
• /yaw: Float32 (Angle difference towards the closest obstacle)
• /index: Float32 (ID of the closest 2D LIDAR measurement)

Launch

roslaunch htb_follower follower.launch