Today, I get angle and distance values from the ydlidar. In the ydlidar_ros/src/ydlidar_client.cpp file, there is a code to handle the valuses from ydlidar. We made a program flow chart to control autonomous driving horse robot as following steps. Go straight until the objects appears within return scopes(around 1 meter, only check from -30 degrees to 30 degrees). If something appears with in boundaries, then return False, else return True If the input value is True, go straight, else turn right until the input value becomes True. Go to 1. I made a program which check whether objects appears in … 2019.11.13 How to get angle and distance values from ydlidar? 더보기