(十一)在ROS上发布点云 PointClouds

最新推荐文章于 2024-08-02 13:06:20 发布

火星机器人life

最新推荐文章于 2024-08-02 13:06:20 发布

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分类专栏： ROS SLAM基础工具及算法文章标签： ros PointClouds

本文链接：https://blog.csdn.net/ktigerhero3/article/details/78146411

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在ros中，对于3D点，可以直接给sensor_msgs/PointCloud 赋值并发布消息，比较方便。

1.创建工程

mkdir -p pointcloud/src
cd src
catkin_create_pkg pointcloud roscpp rospy sensor_msgs std_msgs 
cd ..
catkin_make

2.编辑主函数

pointcloud.cpp

#include <ros/ros.h>
#include <sensor_msgs/PointCloud.h>

int main(int argc, char** argv){
  ros::init(argc, argv, "point_cloud_publisher");
  ros::NodeHandle n;
  ros::Publisher cloud_pub = n.advertise<sensor_msgs::PointCloud>("cloud", 50);
  unsigned int num_points = 100;
  ros::Rate r(1.0);
  while(n.ok()){
    sensor_msgs::PointCloud cloud;
    cloud.header.stamp = ros::Time::now();
    cloud.header.frame_id = "sensor_frame";
    cloud.points.resize(num_points);
    //we'll also add an intensity channel to the cloud
    cloud.channels.resize(1);
    cloud.channels[0].name = "rgb";
    cloud.channels[0].values.resize(num_points);

    //generate some fake data for our point cloud
    for(unsigned int i = 0; i < num_points; ++i){
      cloud.points[i].x = 0.1*i;
      cloud.points[i].y = 0.1*i;
      cloud.points[i].z = 5;
      cloud.channels[0].values[i] = 255;
    }
    cloud_pub.publish(cloud);
    r.sleep();
  }
}