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