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ros （二）使用消息传递点云+rviz显示

news 来源：原创 2025/6/26 18:34:03

一、创建环境

catkin_create_pkg pclros  roscpp std_msgs  sensor_msgs pcl_ros pcl_conversions
cd pclros/src
catkin_make
touch pcl_pub.cpp
touch pcl_sub.cpp

二、发布点云消息

#include<ros/ros.h>
#include<sensor_msgs/PointCloud2.h>
#include<pcl_conversions/pcl_conversions.h>
#include<pcl/point_types.h>
#include<pcl/point_cloud.h>int main(int argc, char** argv)
{ros::init(argc, argv, "ros_pub");ros::NodeHandle nh_("~");pcl::PointCloud<pcl::PointXYZ> cloud;cloud.width = 100;cloud.height = 1;cloud.points.resize(100);for(size_t i =0; i< cloud.points.size();i++){cloud.points[i].x = i * 0.5;cloud.points[i].y = i * 0.5;cloud.points[i].z = i * 0.5;}ros::Publisher pcl_pub = nh_.advertise<sensor_msgs::PointCloud2>("/point2", 1);sensor_msgs::PointCloud2 pcl_msg;ros::Rate rate_loop(5);while(nh_.ok()){pcl::toROSMsg(cloud, pcl_msg);pcl_msg.header.frame_id = "map";pcl_msg.header.stamp = ros::Time::now();pcl_pub.publish(pcl_msg);ros::spinOnce();rate_loop.sleep();}return 0;}

三、接收点云消息

#include<ros/ros.h>
#include<pcl/point_cloud.h>
#include<pcl/point_types.h>
#include<pcl_ros/point_cloud.h>
#include<pcl_conversions/pcl_conversions.h>
#include<sensor_msgs/PointCloud2.h>void callBack(const sensor_msgs::PointCloud2ConstPtr& msg)
{pcl::PointCloud<pcl::PointXYZ> cloud;pcl::fromROSMsg(*msg, cloud);ROS_INFO("cv_bridge exception: %d  %d\n", cloud.width ,  cloud.height);
}int main(int argc, char** argv)
{ros::init(argc, argv, "pcl_sub");ros::NodeHandle nh_;ros::Subscriber sub_ = nh_.subscribe<sensor_msgs::PointCloud2>("/point2", 1, callBack);ros::spin();}

四、使用rviz接收消息

点击rviz左下角的add按钮，选择pointcloud2，显示点云，如果发现点云没有显示，则更改pub中的frame_id = “map”,就可以显示出来了。