#!/usr/bin/env python#coding=utf-8#女生節禮物 import rospyfrom sensor_msgs.msg import LaserScanimport numpyimport copy node_name = "Test_Maker" class Test_Maker():  def __init__(self):    self.Define()    rospy.Timer(rospy.Duration(0.5), self.Timer_CB1)    rospy.Timer(rospy.Duration(0.5), self.Timer_CB2)    rospy.Timer(rospy.Duration(0.5), self.Timer_CB3)    rospy.Timer(rospy.Duration(0.5), self.Timer_CB4)    rospy.spin()   def Define(self):    self.pub_scan1 = rospy.Publisher('test/test_scan1', LaserScan, queue_size=1)    self.pub_scan2 = rospy.Publisher('test/test_scan2', LaserScan, queue_size=1)    self.pub_scan3 = rospy.Publisher('test/test_scan3', LaserScan, queue_size=1)    #慎用！！！！    self.pub_scan4 = rospy.Publisher('test/test_scan4', LaserScan, queue_size=1)   def Timer_CB1(self, e):    data = LaserScan()    data.header.frame_id = "base_link"    data.angle_min = 0    data.angle_max = numpy.pi*2    data.angle_increment = numpy.pi*2 / 200    data.range_max = numpy.Inf    data.range_min = 0    theta = 0    for i in range(200):      r = 8.* numpy.sin(5. * theta )      data.ranges.append(copy.deepcopy(r))      data.intensities.append(theta)      r = 8.* numpy.sin(5. * -theta)      data.ranges.append(copy.deepcopy(r))      data.intensities.append(theta)       theta += data.angle_increment    data.header.stamp = rospy.Time.now()    self.pub_scan1.publish(data)   def Timer_CB2(self, e):    data = LaserScan()    data.header.frame_id = "base_link"    data.angle_min = 0    data.angle_max = numpy.pi*2    data.angle_increment = numpy.pi*2 / 200    data.range_max = numpy.Inf    data.range_min = 0    theta = 0    for i in range(200):      r = 8. * numpy.cos(5. * theta) + 1      data.intensities.append(theta)      data.ranges.append(copy.deepcopy(r))      r = 8. * numpy.cos(5. * -theta) + 1      data.intensities.append(theta)      data.ranges.append(copy.deepcopy(r))      theta += data.angle_increment     data.header.stamp = rospy.Time.now()    self.pub_scan2.publish(data)   def Timer_CB3(self, e):    data = LaserScan()    data.header.frame_id = "base_link"    data.angle_min = 0    data.angle_max = numpy.pi*2    data.angle_increment = numpy.pi*2 / 50    data.range_max = numpy.Inf    data.range_min = 0    theta = 0    for i in range(200):      r = 2. * numpy.sin(5. * theta) + 1      data.intensities.append(theta)      data.ranges.append(copy.deepcopy(r))      r = 2. * numpy.sin(5. * -theta) + 1      data.intensities.append(theta)      data.ranges.append(copy.deepcopy(r))      theta += data.angle_increment     data.header.stamp = rospy.Time.now()    self.pub_scan3.publish(data)   #慎用！！！！  def Timer_CB4(self, e):    data = LaserScan()    data.header.frame_id = "base_link"    data.angle_min = 0    data.angle_max = numpy.pi*2    data.angle_increment = data.angle_max / 200    data.range_max = numpy.Inf    data.range_min = 0    theta = 0    for i in range(200):      r = 9. * numpy.arccos(numpy.sin(theta)) + 9      data.ranges.append(r)      theta += data.angle_increment     data.header.stamp = rospy.Time.now()    self.pub_scan4.publish(data) if __name__ == '__main__':  node_name = 'Test_Maker'  rospy.init_node(node_name)  try:    Test_Maker()  except rospy.ROSInterruptException:    rospy.logerr('%s error'%node_name)