pcd文件在rviz中显示

 1、配置工程的依赖选项
 

catkin_create_pkg chapter6_tutorials pcl_ros roscpp rospy sensor_msgs std_msgs

2、修改 CMakelist.txt 和 package.xml 文件

3、代码方案1

#include<ros/ros.h>
#include<pcl/point_cloud.h>
#include<pcl_conversions/pcl_conversions.h>
#include<sensor_msgs/PointCloud2.h>
#include<pcl/io/pcd_io.h>//which contains the required definitions to load and store point clouds to PCD and other file formats.
 
main (int argc, char **argv)
{
  ros::init (argc, argv, "UandBdetect");
  ros::NodeHandle nh;
  ros::Publisher pcl_pub = nh.advertise<sensor_msgs::PointCloud2> ("pcl_output1", 1);
  pcl::PointCloud<pcl::PointXYZ> cloud;
  sensor_msgs::PointCloud2 output;
  pcl::io::loadPCDFile ("/home/lucifr/code/voxel_grid/table_scene_lms400.pcd", cloud);
  //Convert the cloud to ROS message
  pcl::toROSMsg(cloud, output);
  output.header.frame_id = "odom1";//this has been done in order to be able to visualize our PointCloud2 message on the RViz visualizer
  ros::Rate loop_rate(1);
  while (ros::ok())
  {
    pcl_pub.publish(output);
    ros::spinOnce();
    loop_rate.sleep();
  }
  return 0;
}

4、代码方案2

#include <ros/ros.h>
// PCL specific includes
#include <sensor_msgs/PointCloud2.h>
#include <pcl_conversions/pcl_conversions.h>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>


#include <iostream>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
#include <pcl/filters/voxel_grid.h>

ros::Publisher pub;
sensor_msgs::PointCloud2 output;//声明的输出的点云的格式
int main (int argc, char** argv)
{
  ros::init (argc, argv, "voxel_grid");//声明节点的名称
  ros::NodeHandle nh;
  //pcl::PCLPointCloud2::Ptr cloud (new pcl::PCLPointCloud2 ());
  //pcl::PCLPointCloud2::Ptr cloud_filtered (new pcl::PCLPointCloud2 ());

  pcl::PCLPointCloud2* cloud = new pcl::PCLPointCloud2; //原始的点云的数据格式
  pcl::PCLPointCloud2ConstPtr cloudPtr(cloud);
  pcl::PCLPointCloud2 cloud_filtered;//存储滤波后的数据格式

  pub = nh.advertise<sensor_msgs::PointCloud2> ("out_put2", 1);

  // Fill in the cloud data
  pcl::PCDReader reader;
  // Replace the path below with the path where you saved your file
  reader.read ("/home/lucifr/code/voxel_grid/table_scene_lms400.pcd", *cloud); // Remember to download the file first!

  std::cerr << "PointCloud before filtering: " << cloud->width * cloud->height 
       << " data points (" << pcl::getFieldsList (*cloud) << ").";
  

  // Create the filtering object
  pcl::VoxelGrid<pcl::PCLPointCloud2> sor;

  sor.setInputCloud (cloudPtr);  //设置输入的滤波，将需要过滤的点云给滤波对象

  sor.setLeafSize (0.1f, 0.1f, 0.1f);  //值越大，采样越稀疏

  sor.filter (cloud_filtered);


  pcl_conversions::moveFromPCL(cloud_filtered, output);//第一个参数是输入，后面的是输出

  output.header.frame_id = std::string("base1_link");
  // Publish the data

  ros::Rate loop_rate(1);
  while (ros::ok())
  {
    pub.publish(output);
    ros::spinOnce();
   std::cout << "hha" << std::endl; 
    loop_rate.sleep();
  }
//pub.publish (output);
//std::cout << "8" << std::endl;  
  ros::spin ();
  return 0; 
}

5、打开 rviz， add 点云对应的topic