PCL的I/O操作（ROS）

构建功能包
代码：

#include <ros/ros.h>
#include <pcl_ros/point_cloud.h>
#include <pcl/io/pcd_io.h>
#include <sstream>
#include <string.h>

typedef pcl::PointXYZRGB PointT;
typedef pcl::PointCloud<PointT> PointCloudT;

PointCloudT::Ptr cloud(new PointCloudT);


//std::string world_frame_id;
std::string frame_id;

std::string path;

void cloud_cb (const PointCloudT::ConstPtr& callback_cloud)
{
  *cloud = *callback_cloud;
  frame_id = cloud->header.frame_id;
  std::stringstream ss;
  std::string s1;
  ss<<ros::Time::now();
  s1=ss.str();

  // cloud saving:
  std::string file_name=path+"cloud_"+frame_id.substr(0, frame_id.length())+"_"+s1+".pcd";
  std::cout<<file_name<<std::endl;
  pcl::io::savePCDFileBinary(file_name,*cloud); 	
}

int main (int argc, char** argv)
{
  ros::init(argc, argv, "save_cloud");
  ros::NodeHandle nh("~");
 // std::cout << "node successfully created!" << std::endl;
	
  //Read some parameters from launch file:
  std::string pointcloud_topic = "/camera/depth_registered/points";
  path = "/home/suyang/pointtest/";
 /* nh.param("pointcloud_topic", pointcloud_topic, std::string("/camera/depth_registered/points"));
  nh.param("world_frame_id", world_frame_id, std::string("/odom"));
  nh.param("path", path, std::string("/home/ubuntu1/pointtest/"));
  std::cout << "Read some parameters from launch file." << std::endl;*/
	
	
  // Subscribers:
  ros::Subscriber sub = nh.subscribe(pointcloud_topic, 1, cloud_cb);
  std::cout<<"receive messages successfully!"<<std::endl;
	
  ros::spin();

  return 0;
}

1.#include<sstream>
stringstream 对象用于输入一行字符串

 std::stringstream ss;
 ss<<ros::Time::now();

另：

    string str= "hello world I am very happy!";                           
    stringstream sstream(str);                                              //sstream<<
 
    while (sstream)
      {
        string substr;
 
        sstream>>substr;
        cout << substr << endl;    //也可vec.push_back(substr);
      } 

类型转换：

stringstream stream;
string result;

int i = 1000;

stream << i;                //将int输入流
stream >> result;           //从stream中抽取前面插入的int值

cout << result << endl;     // cout the string "1000"

另 to_string():

s1=to_string(10.5);                        //double到string
s2=to_string(123);                        //int到string

2.typedef
C 语言提供了 typedef 关键字，用它来为类型取个新名字。下面的实例为单字节数字定义了一个术语 BYTE：
typedef unsigned char BYTE;
在这个类型定义之后，标识符 BYTE 可作为类型 unsigned char 的缩写，例如：
BYTE b1, b2;

3..substr()
截取字符串：frame_id.substr(0, frame_id.length())

报错：

[rosrun] Couldn't find executable named save_cloud below /home/carl/my_savecloud_tutorial/src/my_savecloud_tutorial

找到该文件，勾选执行。

4.ros::NodeHandle nh加("~")
一.使用节点句柄nh("~")
ros::NodeHandle nh("~");
ros::Publisher joint_pub = nh.advertise<sensor_msgs::JointState>(“test_joint_states”, 1);

则发布的话题名字为

节点名字+话题名字

/replay_jnt_path_node/test_joint_states

二.使用节点句柄nh

ros::NodeHandle nh;

ros::Publisher joint_pub = nh.advertise<sensor_msgs::JointState>(“test_joint_states”, 1);

则发布的话题名字为:话题名字

/test_joint_states