1.程序包的配置等参照 第一个PCL程序
2.代码.cpp
#include
#include
#include
#include
main (int argc, char **argv)
{
ros::init (argc, argv, "pcl_create");
ros::NodeHandle nh;
ros::Publisher pcl_pub = nh.advertise<:pointcloud2> ("pcl_output", 1);
pcl::PointCloud<:pointxyz> cloud;
sensor_msgs::PointCloud2 output;
// Fill in the cloud data
cloud.width = 100;
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);
}
//Convert the cloud to ROS message
pcl::toROSMsg(cloud, output);
output.header.frame_id = "odom";//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;
}
3.编译
cd catkin_ws
source devel/setup.bash
catkin_make
4.运行
roscore
rosrun imgpcl pcl_create
rosrun rviz rviz
5.Rviz的配置
点击Add,添加pointcloud2,
Fixed Frame设置为odom.
Topic 设置为/pcl_output