ROS学习笔记 |
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ROS学习笔记
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pcl实现了这部分功能，直接terminal输入： rosrun pcl_ros pcd_to_pointcloud pcd_name 1(rate) 在上篇的简述中提到了ROS中的点云数据类型，本篇利用在pcl官网下载的一个pcd文件，创建节点发布，转换数据类型并在rviz中显示。源码如下： #include #include #include #include #include//which contains the required definitions to load and store point clouds to PCD and other file formats. main (int argc, char **argv) { ros::init (argc, argv, "UandBdetect"); ros::NodeHandle nh; ros::Publisher pcl_pub = nh.advertise ("pcl_output1", 1); pcl::PointCloud cloud; sensor_msgs::PointCloud2 output; pcl::io::loadPCDFile ("/home/uv/table_scene_lms400.pcd", cloud); //Convert the cloud to ROS message pcl::toROSMsg(cloud, output); output.header.frame_id = "odom1";//this has been done in order to be able to visualize our PointCloud2 message on the RViz visualizer ros::Rate loop_rate(1); while (ros::ok()) { pcl_pub.publish(output); ros::spinOnce(); loop_rate.sleep(); } return 0; }加载一个pcd文件后，通过pcl::toROSMsg(cloud, output)将pcd转换到 sensor_msgs::PointCloud2。在rviz中添加PointCloud2插件，修改fixed frame并订阅对应的主题，便可在rviz中显示一帧点云数据：
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