ros学习之topic实例4

之前都是发布点云，这次的示例是发布之后并处理一下，将点云的颜色改变之后再重新发布出云，实际在slam中使用时这种方式非常多,比如lio-sam里面就有.

代码如下

>>#include <pcl_conversions/pcl_conversions.h>
>>#include <sensor_msgs/PointCloud2.h>
   
>>ros::Subscriber subCloud;   //用于接收点云
>>ros::Publisher pubCloud;    //用于发布新的点云
   
>>void getcloud(const sensor_msgs::PointCloud2ConstPtr& laserScanMsg){
>>    pcl::PointCloud<pcl::PointXYZRGB>::Ptr process_pcl_ptr(new pcl::PointCloud<pcl::PointXYZRGB>);   //因为每次都需要重新初始化
>>    sensor_msgs::PointCloud2 process_msg;  //等待发送的点云消息
>>    pcl::fromROSMsg(*laserScanMsg, *process_pcl_ptr);  //把msg消息转化为点云
>>    pcl::PointCloud<pcl::PointXYZRGB> process_pcl;   //建立了一个pcl的点云，作为中间过程
>>    process_pcl = *process_pcl_ptr;  
>>    for (int i = 0; i < process_pcl.points.size(); i++)
      {
>>      process_pcl.points[i].r = 0;
>>      process_pcl.points[i].g = 255;
>>      process_pcl.points[i].b = 0;
   
      }
>>    pcl::toROSMsg(process_pcl, process_msg);  //将点云转化为消息
      pubCloud.publish(process_msg); //发布处理之后的点云数据，主题为/processed_cloud
  }
    
   
  int main(int argc, char** argv){
      ros::init(argc, argv, "colored");  //初始化了一个节点，名字为colored
      ros::NodeHandle nh;
      //subCloud = nh.subscribe<sensor_msgs::PointCloud2>("/color_cloud", 1, &getcloud); //接收点云数据，进入回调函数getcloud()
      subCloud = nh.subscribe<sensor_msgs::PointCloud2>("/color_cloud", 1, getcloud); //接收点云数据，进入回调函数getcloud()
      pubCloud = nh.advertise<sensor_msgs::PointCloud2>("/processed_cloud_green", 1000);  //建立了一个发布器，主题是/adjusted_cloud，方便之后发布调整后的点云
   
      ros::spin();
      return 0;
  }

这里之所以会在最上面声明pubCloud和subCloud，主要是因为要在callback函数中进行调用。
还有一种方式就是直接用类来实现。会在下个blog中进行介绍。

这次的cmake如下

cmake_minimum_required(VERSION 2.6 FATAL_ERROR)
project(pcl_process)
 
set(PACKAGE_DEPENDENCIES
      roscpp
        sensor_msgs
          pcl_ros
            pcl_conversions
              std_srvs
                message_generation 
                  std_msgs
                  )   
 
find_package(PCL 1.3 REQUIRED COMPONENTS common io roscpp rospy std_msgs)
find_package(catkin REQUIRED COMPONENTS ${PACKAGE_DEPENDENCIES})
 
catkin_package(
#  INCLUDE_DIRS include
#  LIBRARIES publish_subscribe_demo
  CATKIN_DEPENDS  roscpp std_msgs
#  DEPENDS system_lib
)
 
include_directories(include ${catkin_INCLUDE_DIRS} ${PCL_INCLUDE_DIRS})
link_directories(${PCL_LIBRARY_DIRS})
add_definitions(${PCL_DEFINITIONS})
add_executable(pcl_process src/pcl_process.cpp)
target_link_libraries(pcl_process ${PCL_LIBRARIES}  ${catkin_LIBRARIES} )                                         

在catkin_ws中的编译命令如下

catkin_make -DCATKIN_WHITELIST_PACKAGES="pcl_process"