ROS中PointCloud转换为PointCloud2类型

引用头文件

首先，引用对应的头文件：

#include <sensor_msgs/PointCloud2.h>
#include <sensor_msgs/PointCloud.h>
#include <sensor_msgs/point_cloud_conversion.h>

定义接听/发布

ros::Subscriber subMMWCloud;
ros::Publisher pubLaserCloud;
subMMWCloud = nh.subscribe<sensor_msgs::PointCloud>(mmwTopic, 2000, &preMMW::mmwHandler, this);
pubLaserCloud = nh.advertise<sensor_msgs::PointCloud2>(laserTopic, 2000);

写回调函数

    void mmwHandler(const sensor_msgs::PointCloudConstPtr& mmwCloudMsg)
    {
        mBuf.lock();
        // rawMMWCloudQueue.push_back(mmwCloudMsg);
        sensor_msgs::PointCloud2 laserCloudMsg;
        convertPointCloudToPointCloud2(*mmwCloudMsg, laserCloudMsg);
        laserCloudMsg.header.stamp = mmwCloudMsg->header.stamp;
        laserCloudMsg.header.frame_id = lidarFrame;
        pubLaserCloud.publish(laserCloudMsg);
        // cout << "hello LASER: " << laserCloudMsg.header.stamp << endl;
        mBuf.unlock();
    }

注意，其中最重要的是：convertPointCloudToPointCloud2这个函数。