1. ros的订阅sensor_msgs::PointCloud2的topic保存为.pcd格式点云 1.1. rostopic查看主题名称 rostopic list -v 1.2. 启动pcl_ros包下的pointcloud_to_pcd节点保存点云 rosrun pcl_ros pointcloud_to_pcd /input:=/globalmap 注意: 参数/input:=/global_map 中的/global_map 改为你需要保存的topic。
cloud_msg = points_to_pointcloud2(points, msg.header.frame_id) self.publisher_.publish(cloud_msg) pcd = o3d.geometry.PointCloud() pcd.points = o3d.utility.Vector3dVector(points) o3d.io.write_point_cloud("point_cloud.pcd", pcd) self.destroy_subscription(self.subscription) rclpy.shutdown(...
cloud_msg = points_to_pointcloud2(points, msg.header.frame_id) self.publisher_.publish(cloud_msg) pcd = o3d.geometry.PointCloud() pcd.points = o3d.utility.Vector3dVector(points) o3d.io.write_point_cloud("point_cloud.pcd", pcd) self.destroy_subscription(self.subscription) rclpy.shutdown(...
(5)pointcloud_to_pcd 例如: rosrun pcl_ros pointcloud_to_pcd input:=/velodyne/pointcloud2 订阅一个ROS的话题和保存为点云PCD文件。每个消息被保存到一个单独的文件,名称是由一个可自定义的前缀参数,ROS时间的消息,和以PCD扩展的文件。 那么我们使用一个简单的例子来实现在ROS中进行平面的分割,同时注意到...
#include <pcl/io/pcd_io.h> #include <pcl_conversions/pcl_conversions.h> class PclSub : public rclcpp::Node { public: PclSub(std::string name) : Node(name) { sub_novel = this->create_subscription<sensor_msgs::msg::PointCloud2>("sexy_girl", 10, std::bind(&PclSub::topic_callback...
要在ROS 2中安装PCL(Point Cloud Library),你需要按照以下步骤操作: 1. 确认ROS 2环境已正确安装并配置 确保你已经正确安装了ROS 2,并且环境变量已经配置好。你可以通过运行以下命令来检查ROS 2是否安装成功: bash ros2 --version 2. 安装PCL库依赖项 在安装PCL之前,你需要安装一些依赖项。这些依赖项可能因你...
Move to your ROS workspace source folder, e.g: cd ~/dev_ws/src Clone this repo: git clone https://github.com/SebastianGrans/ROS2-Point-Cloud-Demo.git Compile: cd ~/dev_ws/ source /opt/ros/galactic/setup.sh colcon build --symlink-install --packages-select pcd_demo source install/...
*/cloud_after_PassThrough_.reset(newpcl::PointCloud<pcl::PointXYZ>());pcl::PassThrough<pcl::PointXYZ> passthrough;passthrough.setInputCloud(pcd_cloud_);//输入点云passthrough.setFilterFieldName("x");//对x轴进行操作passthrough.setFilterLimits(thre_x_min_, ...
记录关于我们运行roslaunch openni_launch openni.launch 命令时生成的话题以及这些话题的数据类型便于...
出力トピック /current_pose [geometry_msgs/PoseStamped] /map [sensor_msgs/PointCloud2] /path [nav_msgs/Path] /tf(from "map" to "base_link") /map_array[lidarslam_msgs/MapArray] ソフトウェアライセンス BSD-2-Clause licenseVelodyne...