关键代码:
ros::Publisher cloud_pub=nh.advertise("lidar_cloud",1);
pcl::PointCloud cloud;
sensor_msgs::PointCloud2 output;
pcl::io::loadPCDFile("/home/a/pcd/1.pcd",cloud);
pcl::toROSMsg(cloud,output);
ros::Rate loop_rate(10);
while(ros::ok()) {
cloud_pub.publish(output);
ros::spinOnce();
loop_rate.sleep();
}