ros2laserscan

import rclpy
from rclpy.node import Node
from sensor_msgs.msg import LaserScan
import matplotlib.pyplot as plt
import numpy as np

class LidarPlotter(Node):
    def __init__(self):
        super().__init__('lidar_plotter')
        self.subscription = self.create_subscription(
            LaserScan,
            '/scan',
            self.listener_callback,
            10)
        self.subscription  # prevent unused variable warning

    def listener_callback(self, msg):
        angles = np.arange(msg.angle_min, msg.angle_max, msg.angle_increment)
        ranges = np.array(msg.ranges)
        x = ranges * np.cos(angles)
        y = ranges * np.sin(angles)

        plt.scatter(x, y, s=1)
        plt.xlabel('X [m]')
        plt.ylabel('Y [m]')
        plt.title('2D Lidar Point Cloud')
        plt.axis('equal')
        plt.grid(True)
        plt.show()

def main(args=None):
    rclpy.init(args=args)
    lidar_plotter = LidarPlotter()
    rclpy.spin(lidar_plotter)
    lidar_plotter.destroy_node()
    rclpy.shutdown()

if __name__ == '__main__':
    main()