ros python 程序接收激光雷达数据并保存为txt

通过监听rostopic，解析并保存velodyne 激光雷达的三维数据，然后保存为txt格式；

#!/usr/bin/env python
# coding=utf-8


import rospy
from std_msgs.msg import String
from sensor_msgs.msg import PointCloud2
from sensor_msgs import point_cloud2
import time


def callback21(msg):
    # import pcl
    import numpy as np
    points = point_cloud2.read_points_list(msg, field_names=("x", "y", "z"))

    # pointsnp = np.array(list(points))
    #cloud = pcl.PointCloud_PointXYZRGB()
    pointsnp = np.zeros((307200, 3), dtype=np.float32)
    # if cloud_count % 20 == 0:
    n = 0
    for p in points:
        #print("Cloud x : %.3f  y: %.3f  z: %.3f" % (p[0], p[1], p[2]))
        pointsnp[n][0] = p[0]
        pointsnp[n][1] = p[1]
        pointsnp[n][2] = p[2]
        n += 1
        # break

    np.savetxt('lidar1.txt', pointsnp, delimiter=' &#