new tf2_ros::MessageFilter<sensor_msgs::msg::PointCloud2>( *sub, *tf_, global_frame_, 50, rclcpp_node_, tf2::durationFromSec(transform_tolerance))); filter->registerCallback( std::bind( &ObstacleLayer::pointCloud2Callback, this, std::placeholders::_1, observation_buffers_.back()));...
pcl::transformPointCloud(*cloud_after_PassThrough_.get(),*cloud_after_PassThrough_.get(),matrix_transform);}catch(consttf2::TransformException& ex){RCLCPP_ERROR_STREAM(this->get_logger(),"Transform error of sensor data: "<< ex.what() <<", quitting call...
new tf2_ros::MessageFilter<sensor_msgs::msg::PointCloud2>( *sub, *tf_, global_frame_, 50, rclcpp_node_, tf2::durationFromSec(transform_tolerance))); filter->registerCallback( std::bind( &ObstacleLayer::pointCloud2Callback, this, std::placeholders::_1, observation_buffers_.back()));...
First run thestatic_transform_publisherto generatetf2data: 首先运行static_transform_publisher以生成tf2数据: ros2 run tf2_ros static_transform_publisher 1 2 3 0.5 0.1 -1.0 foo bar 1. That tool will publish a static transform from the parent framefooto the child framebarwith (X, Y, Z) tran...
/ray/pointcloud2 /ray/range /ray/rosout /rosout 打开rviz2,查看数据可视化: rviz2 这时候,rviz2中什么也没有,还有一个黄色警告。 tf数据没有,map坐标应该也是不对的。怎么办?先看看,激光的坐标吧? 使用ros2 topic echo,当然也可以查看源码确定具体坐标名称: ...
matrix_transform=pcl_ros::transformAsMatrix(echo_transform);pcl::transformPointCloud(
Before I use ros, I transform the pointcloud into numpy with shape (720,1280,4). The 4 mean for information: xyz location information and RGB information in one float32 number. Now I open the camera with ROS. It output the pointcloud by ...
echo_transform = buffers_->lookupTransform(world_frame_id_,robot_frame_id_,tf2::TimePoint()); Eigen::Matrix4f matrix_transform = pcl_ros::transformAsMatrix(echo_transform); pcl::transformPointCloud(*cloud_after_PassThrough_.get(),*cloud_after_PassThrough_.get(),matrix_transform); ...
不难发现std_msgs下面定义的是经ROS封装后的最基本的数据类型,比如Bool、Char、Int16等;sensor_msgs下面定义的是跟传感器数据相关的数据类型,比如Image对应的就是摄像头的数据类型,Imu对应的就是IMU传感器的数据类型,LaserScan对应的就是激光雷达的数据类型,PointCloud对应的就是点云扫描传感器(如深度相机)的数据类型,...
libpoints_transform_component.so:`rosidl_message_type_support_t const*rosidl_typesupport_cpp::get_message_type_support_handle<sensor_msgs::msg::PointCloud2_<std::allocator<void>>>()' に対する定義されていない参照です std_msgs::msg::Stringに変更してみたところ、このエラーは出なくなった...