PCL程序1

初学者的第一个PCL程序

一.创建ROS软件包

1.这个软件包是依赖于pcl_conversions、pcl_ros、pcl_msgs和sensor-msgs的软件包:
在Linux终端输入***cd catkin_ws/src***
更改到目录“catkin_ws/src”下，
再输入***catkin_create_pkg pcl_tutorials pcl_conversions pcl_ros pcl_msgs sensor_msgs***

2.创建源文件目录:
在终端输入指令
rospack profile
roscd pcl_tutorials
mkdir src

3.在新的源文件目录中创建一个名为pcl_sample.cpp的文件:
在终端中输入***touch pcl_sample.cpp***

二.在pcl_sample.cpp文件中输入

打开pcl_sample.cpp文件，输入如下代码：
#include <ros/ros.h>
#include <pcl/point_cloud.h>
#include <pcl_ros/point_cloud.h>
#include <pcl_conversions/pcl_conversions.h>
#include <sensor_msgs/PointCloud2.h>

main(int argc, char** argv)
{
ros::init (argc, argv, “pcl_sample”);
ros::NodeHandle nh;
ros::Publisher pcl_pub = nh.advertise<sensor_msgs::PointCloud2>(“pcl_output”, 1);
sensor_msgs::PointCloud2 output;
pcl::PointCloud<pcl_PointCloudXYZ>::Ptr cloud (new pcl::PointCloud<pcl_PointCloudXYZ>);
//Fill in the cloud data
cloud->width = 100;
cloud->height = 1;
cloud->points.resize(clou