ROS读取激光雷达点云数据（RS-Lidar为例）

一、准备工作：

1、安装ROS （含有rviz）；

2、安装pcl-ros。

    pcl（Point Cloud Library）-ros  是ROS中点云和3D几何处理的接口和工具。

   如果安装的是ros-kinetic-desktop版本，默认不包含pcl-ros，在rviz中无法显示点云。

   安装方法：

sudo apt-get install libpcap-dev #安装依赖
sudo apt-get install ros-kinetic-pcl-ros

  显示：

sudo apt-get install ros-kinetic-pcl-ros
Reading package lists... Done
Building dependency tree       
Reading state information... Done
The following additional packages will be installed:
  libflann-dev libflann1.8 libopenni-dev libopenni-sensor-pointclouds0
  libopenni0 libpcl-apps1.7 libpcl-common1.7 libpcl-dev libpcl-features1.7
  libpcl-filters1.7 libpcl-io1.7 libpcl-kdtree1.7 libpcl-keypoints1.7
  libpcl-octree1.7 libpcl-outofcore1.7 libpcl-people1.7 libpcl-recognition1.7
  libpcl-registration1.7 libpcl-sample-consensus1.7 libpcl-search1.7
  libpc