def report_metric()

in robot_ws/src/navigation_robot/nodes/monitor_obstacle_distance.py [0:0]

• 10 lines of code
• 2 McCabe index (conditional complexity)

    def report_metric(self, msg):
        filtered_scan = self.filter_scan(msg)
        if not filtered_scan:
            rospy.loginfo(
                'No obstacles with scan range (%s,%s)', msg.range_min, msg.range_max
            )
            return

        min_distance = min(filtered_scan)
        rospy.loginfo('Nearest obstacle: %s', min_distance)

        self.metrics_pub.publish(min_distance)