ROS下PCL点云读取显示

前提：
安装clion，clion ROS配置，loam下载使用，数据集下载，velodyne_ros下载，
load_map:
读取地图pcd文件，pcl::visualize显示和转换toROSMsg发布publish topic用rviz显示

创建功能包

catkin_create_pkg learn_loam roscpp rospy std_msgs sensor_msgs pcl_ros pcl_conversion
catkin_make

需要修改CMakeList.txt和package.xml

在工作空间启动clion

sh /opt/clion-2019.2.1/bin/clion.sh

打开project，选中CMakeList.txt

添加库文件支持
find_package(PCL REQUIRED)

catkin_package(
  INCLUDE_DIRS include
  CATKIN_DEPENDS pcl_conversions pcl_ros roscpp rospy sensor_msgs std_msgs
  DEPENDS  PCL
)

include_directories(
 include
  ${catkin_INCLUDE_DIRS}
        ${PCL_INCLUDE_DIRS}
)
#可执行文件和链接库
add_executable(load_map src/load_map.cpp)
target_link_libraries(load_map ${catkin_LIBRARIES} ${PCL_LIBRARIES})

创建源文件load_map.cpp，读取地图PCD，PCL显示，转换ROS消息发布topic

#include <ros/ros.h>
#include <sensor_msgs/PointCloud2.h>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <pcl/io/pcd_io.h>
#include <pcl_conversions/pcl_conversions.h>
#include <pcl/visualization/pcl_visualizer.h>
#include <iostream>

//pcl显示点云
void visualizer_one_points(pcl::PointCloud<pcl::PointXYZ>::Ptr cloud,std::string name)
{
    boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer(new pcl::visualization::PCLVisualizer(name));

    viewer->setBackgroundColor(0,0,0);
    pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZ> cloud_color(cloud,0,0,255);
    viewer->addPointCloud(cloud,cloud_color,name);

    viewer->spinOnce(100);			//while(!viewer->wasStopped())会卡在这

}

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

    pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_map(new pcl::PointCloud<pcl::PointXYZ>);
    sensor_msgs::PointCloud2 cloud_map_msg;

    ros::Time begin=ros::Time::now();		//计算读取时间，耗时比较长，但是发布耗时小于1s，发布频率可以为1
    ROS_INFO("begin:%f",begin.toSec());

    pcl::io::loadPCDFile("/home/zhangxu/catkin_ws/Lidar_rawdata/segmap/drive27_target_map.pcd",*cloud_map);
    visualizer_one_points(cloud_map,"map");

    ros::Time load=ros::Time::now();
    ROS_INFO("load-begin=%f -%f=%f",load.toSec(),begin.toSec(),load.toSec()-begin.toSec());

    pcl::toROSMsg(*cloud_map,cloud_map_msg);		//转成ros消息
    cloud_map_msg.header.frame_id="map";		//rviz显示需要fixed_frame

    ros::Publisher map_pub=nh.advertise<sensor_msgs::PointCloud2>("load_map",1);

    ros::Rate loop_rate(1);
    int i=0;
    while(ros::ok())
    {
        map_pub.publish(cloud_map_msg);
        ROS_INFO("MAP Publish %d",++i);
        ros::spinOnce();
        loop_rate.sleep();
    }

    return 0;
}

sensor_msgs::PointCloud2消息格式

rosmsg show sensor_msgs/PointCloud2

std_msgs/Header header
 uint32 seq
 time stamp
 string frame_id
uint32 height
uint32 width
sensor_msgs/PointField[] fields
 uint8 INT8=1
 uint8 UINT8=2
 uint8 INT16=3
 uint8 UINT16=4
 uint8 INT32=5
 uint8 UINT32=6
 uint8 FLOAT32=7
 uint8 FLOAT64=8
 string name
 uint32 offset
 uint8 datatype
 uint32 count
bool is_bigendian
uint32 point_step
uint32 row_step
uint8[] data
bool is_dense

PCL点云显示

 	boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer(new pcl::visualization::PCLVisualizer(name));
    viewer->setBackgroundColor(0,0,0);
    pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZ> cloud_color(cloud,0,0,255);
    viewer->addPointCloud(cloud,cloud_color,name);

rviz显示