订阅ros雷达话题，用PCL显示

1.创建pkg

 catkin_create_pkg pcl_VoxelGrid roscpp pcl_ros pcl_conversions sensor_msgs

2.src下新建test.cpp

#include <ros/ros.h>
#include <sensor_msgs/PointCloud2.h>
#include <pcl_conversions/pcl_conversions.h>
#include <pcl/point_cloud.h>
#include <pcl/visualization/pcl_visualizer.h>
#include <pcl/visualization/point_cloud_geometry_handlers.h>
#include <pcl/visualization/impl/point_cloud_geometry_handlers.hpp>

ros::Publisher pub;

void pointCloudCallback(const sensor_msgs::PointCloud2ConstPtr& msg)
{
    // 将ROS消息转换为PCL点云数据
    pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
    pcl::fromROSMsg(*msg, *cloud);

    // 创建可视化对象
    static pcl::visualization::PCLVisualizer viewer("Point Cloud Viewer");

    // 清除旧的点云数据
    viewer.removeAllPointClouds();

    // 将点云添加到可视化对象
    viewer.addPointCloud(cloud, "cloud");

    // 设置相机参数（可选）
    // viewer.setCameraPosition(0, 0, -2, 0, -1, 0, 0);

    // 更新可视化窗口
    viewer.spinOnce();
}



int
main (int argc, char** argv)
{
  // Initialize ROS
  ros::init (argc, argv, "my_pcl_tutorial");
  ros::NodeHandle nh;

  // Create a ROS subscriber for the input point cloud
  ros::Subscriber sub = nh.subscribe<sensor_msgs::PointCloud2> ("/livox/lidar", 1, pointCloudCallback);

  // Create a ROS publisher for the output point cloud
  pub = nh.advertise<sensor_msgs::PointCloud2> ("filtered_points", 1);

  // Spin
  ros::spin ();
}

3.直接编译会报错

pcl::visualization::PCLVisualizer::PCLVisualizer(std::__cxx11::basic_string<char, std::char_traits, std::allocator > const&, bool)’未定义的引用
诸如此类很多未定以的引用
这个报错通常表示找不到PCLVisualizer构造函数的定义。
解决办法：
在CMakeLists.txt文件中的target_link_libraries部分添加pcl_visualization和pcl_io
具体如下：

target_link_libraries(your_target_name
   ...
   pcl_visualization
   pcl_io
)

再次编译即可！