rviz可视化点云_ROS 可视化(一)： 发布PointCloud2点云数据到Rviz

1. 相关依赖

package.xml 需要添加对 pcl_ros 包的依赖

2. CMakeLists.txt

find_package(PCL REQUIRED)

include_directories(include${PCL_INCLUDE_DIRS})

link_directories(${PCL_LIBRARY_DIRS})

add_executable(pcl_create src/pcl_create.cpp)

target_link_libraries(pcl_create ${catkin_LIBRARIES} ${PCL_LIBRARIES})

2. 测试代码

#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";

ros::Rate loop_rate(1);

while (ros::ok())

{

pcl_pub.publish(output);

ros::spinOnce();

loop_rate.sleep();

}

return 0;

}

原文：https://www.cnblogs.com/lvchaoshun/p/9961112.html