ROS可视化（一）：发布PointCloud2点云数据到Rviz
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// 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) {
//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(); }
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); }
ros::init (argc, argv, "pcl_create");
ros::NodeHandle nh; ros::Publisher pcl_pห้องสมุดไป่ตู้b = nh.advertise<sensor_msgs::PointCloud2> ("pcl_output", 1); pcl::PointCloud<pcl::PointXYZ> cloud; sensor_msgs::PointCloud2 output;
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} ${PCL_LIBRARIES})
本文版权归作者和博客园共有欢迎转载但未经作者同意必须保留此段声明且在文章页面明显位置给出原文连接否则保留追究法律责任的权利
ROS可视化（一）：发布 PointCloud2点云数据到 Rviz
1. 相关依赖 package.xml 需要添加对 pcl_ros 包的依赖
2. CMakeLists.txt
2. 测试代码
#include <ros/ros.h> #include <pcl/point_cloud.h> #include <pcl_conversions/pcl_conversions.h> #include <sensor_msgs/PointCloud2.h>
main (int argc, char **argv) {
return 0; }
for (size_t i = 0; i < cloud.points.size (); ++i) {
//Convert the cloud to ROS message pcl::toROSMsg(cloud, output); output.header.frame_id = "odom";
ros::Rate loop_rate(1); while (ros::ok()) {
pcl_pub.publish(output); ros::spinOnce(); loop_rate.sleep(); }
cloud.points[i].x = 1024 * rand () / (RAND_MAX + 1.0f); cloud.points[i].y = 1024 * rand () / (RAND_MAX + 1.0f); cloud.points[i].z = 1024 * rand () / (RAND_MAX + 1.0f); }
ros::init (argc, argv, "pcl_create");
ros::NodeHandle nh; ros::Publisher pcl_pห้องสมุดไป่ตู้b = nh.advertise<sensor_msgs::PointCloud2> ("pcl_output", 1); pcl::PointCloud<pcl::PointXYZ> cloud; sensor_msgs::PointCloud2 output;
find_package(PCL REQUIRED) include_directories(include${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})
本文版权归作者和博客园共有欢迎转载但未经作者同意必须保留此段声明且在文章页面明显位置给出原文连接否则保留追究法律责任的权利
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
2. 测试代码
#include <ros/ros.h> #include <pcl/point_cloud.h> #include <pcl_conversions/pcl_conversions.h> #include <sensor_msgs/PointCloud2.h>
main (int argc, char **argv) {
return 0; }