在ROS中创建点云并可视化

1.创建功能包

$ catkin_create_pkg pcl_viewer pcl_conversions pcl_ros roscpp sensor_msgs 

修改package.xml

 <build_depend>libpcl-all-dev</build_depend>
 <exec_depend>libpcl-all</exec_depend>

修改CMakeLists.txt（系统里多个版本pcl，需单独设置）

set(PCL_DIR "/usr/local/pcl18/share/pcl-1.8")
find_package(PCL 1.8 REQUIRED)
link_directories(${PCL_LIBRARY_DIRS})
add_definitions(${PCL_DEFINITIONS})

include_directories(
# include
  ${catkin_INCLUDE_DIRS}
  ${PCL_INCLUDE_DIRS}
)

add_executable(kdtree_search_node src/kdtree_search.cpp)
target_link_libraries(kdtree_search_node ${catkin_LIBRARIES} ${PCL_LIBRARIES} )

2.代码

#include <ros/ros.h>
#include <sensor_msgs/PointCloud2.h>
#include <pcl_conversions/pcl_conversions.h>
#include <pcl_ros/point_cloud.h>//若写成#include <pcl/point_cloud.h>就报错
#include <pcl/point_types.h>
#include <pcl/kdtree/kdtree_flann.h>
#include <iostream>
#include <vector>
#include <ctime>

int main (int argc, char**argv)
{
ros::init(argc, argv, "kdtree_search_node");
ros::NodeHandle n;

//typedef pcl::PointXYZ PointT;
//typedef pcl::PointCloud<PointT> PointCloudT;

ros::Publisher pointcloud_pub = n.advertise<sensor_msgs::PointCloud2>("pointcloud", 1);
pcl::PointCloud<pcl::PointXYZ> cloud;
sensor_msgs::PointCloud2 output;

srand (time (NULL));
cloud.width =50000;
cloud.height =1;
cloud.points.resize (cloud.width * cloud.height);
for (size_t i=0; i< cloud.points.size (); ++i)
  {
cloud.points[i].x =1024* rand () / (RAND_MAX +1.0f);
cloud.points[i].y =1024* rand () / (RAND_MAX +1.0f);
cloud.points[i].z =1024* rand () / (RAND_MAX +1.0f);
  }//此处若写成1024.0f，则点云不显示，原因未知

pcl::toROSMsg(cloud, output);
output.header.frame_id = "odom";

ros::Rate loop_rate(1);

while (ros::ok())
{
pointcloud_pub.publish(output);

ros::spinOnce();
loop_rate.sleep();
}

return 0;
}

3.rviz

改坐标系odom
add话题

4.特别注意

#include <pcl_ros/point_cloud.h>//若写成#include <pcl/point_cloud.h>就报错

for (size_t i=0; i< cloud.points.size (); ++i)
  {
cloud.points[i].x =1024* rand () / (RAND_MAX +1.0f);
cloud.points[i].y =1024* rand () / (RAND_MAX +1.0f);
cloud.points[i].z =1024* rand () / (RAND_MAX +1.0f);
  }//此处若写成1024.0f，则点云不显示，原因未知

pcl::PointCloud<pcl::PointXYZ> cloud;
sensor_msgs::PointCloud2 output;

srand (time (NULL));
cloud.width =50000;
cloud.height =1;
cloud.points.resize (cloud.width * cloud.height);
//必须是cloud.width,不能是cloud->width,因为定义的不是指针