该函数的返回值为sensor_msgs.msg.PointCloud2消息。 为了创建正确的sensor_msgs.msg.PointCloud2消息,需要知道该消息类型的结构。运行以下命令来查看PointCloud2消息的数据结构: ros2 interface proto sensor_msgs/msg/PointCloud2 这样就会输出如下消息: "header: stamp: sec: 0 nanosec: 0 frame_id: '' heigh...
在回调函数中,首先使用后面定义的read_point()函数将传入的PointCloud2消息对象msg列表读入到numpy数组中,然后利用Open3D库对该numpy数组表示的点云数据进行可视化,其具体步骤包括:首先调用构造函数中创建的Open3D可视化对象self.vis的remove_geometry()方法清空点云对象self.o3d_pcd中的几何体;接着调用Open3D库的utilit...
msg = PointCloud2() msg.header.frame_id = frame_id msg.height = 1 msg.width = len(points) msg.fields.append(PointField(name="x", offset=0, datatype=PointField.FLOAT32, count=1)) msg.fields.append(PointField(name="y", offset=4, datatype=PointField.FLOAT32, count=1)) msg.fields...
voidOctomapProject::SetMapTopicMsg(constpcl::PointCloud<pcl::PointXYZ>::Ptr cloud, nav_msgs::msg::OccupancyGrid& msg){msg.header.stamp = builtin_interfaces::msg::Time(this->now());;msg.header.frame_id ="map";msg.info.map_load_time = builtin_inte...
void OctomapProject::OctomapCallback(const sensor_msgs::msg::PointCloud2::SharedPtr msg) { // pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_after_PassThrough(new pcl::PointCloud<pcl::PointXYZ>); } void OctomapProject::EachGridmap() ...
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.head...
// #include <sensor_msgs/PointCloud.h> // #include <geometry_msgs/Point32.h> // #include <sensor_msgs/ChannelFloat32.h> #include "sensor_msgs/msg/point_cloud2.hpp" #include "std_msgs/msg/header.hpp" #include <pcl/conversions.h> // 确保包含此头文件 ...
PointCloud2.msg ros2/common_interfacesPublic Notifications Fork91 Star138 master BranchesTags common_interfaces/sensor_msgs/msg/PointCloud2.msg Go to file Copy path dirk-thomasupdate some messages to match comment extraction heuristic (#63)
Msg— ROS 2 sensor_msgs/PointCloud2 message nonvirtual bus Output expand all XYZ— XYZ coordinates matrix | array RGB— RGB values for each point matrix | array Intensity— Intensity values for each point array | matrix ErrorCode— Error code for image conversion scalar Parameters expand all Ma...
#include <sensor_msgs/PointCloud2.h> main (intargc,char**argv) { ros::init (argc, argv,"pcl_create"); ros::NodeHandle nh; ros::Publisher pcl_pub = nh.advertise<sensor_msgs::PointCloud2> ("pcl_output", 1); pcl::PointCloud<pcl::PointXYZ> cloud; ...