ubuntu1804自己编写程序发布kitti数据集的点云数据

接上一节自己编写程序发布kitti数据集的图像数据，本节将介绍自己编写程序发布kitti数据集的点云数据，操作步骤和上一节差不多，详细过程如下：

主要分为三步

建立publish

读取点云资料

以正确的格式publish出去

1、新建publish

#!/usr/bin/env python
import cv2
import os
import numpy as np

import rospy
from std_msgs.msg import Header
from sensor_msgs.msg import Image, PointCloud2
import sensor_msgs.point_cloud2 as pcl2
from cv_bridge import CvBridge
 
DATA_PATH = "/home/ros/dianyun/2011_09_26_drive_0005_sync/2011_09_26/2011_09_26_drive_0005_sync"
 
if __name__ == "__main__":
    frame =0
    rospy.init_node("kitti_node",anonymous=True)
    cam_pub = rospy.Publisher("kitti_cam",Image,queue_size=10)
    pcl_pub = rospy.Publisher("kitti_point_cloud", PointCloud2, queue_size=10)
    bridge=CvBridge()
 
    rate = rospy.Rate(10)
    while not rospy.is_shutdown():
        img = cv2.imread(os.path.join(DATA_PATH,"imag