stringname #属性的名字,比如点云包含‘x’,'y','z'这些,具体看实例 uint32offset #由于实际点在PointCloud2消息中排列是一维数组的形式,偏移量有助于区分点之间的信息 uint8datatype #属性的数据类型,可选的是上面的8个枚举类型 uint32count #属性的个数,这里我也没有完全搞懂(TODO...) boolis_bigendian...
PointCloud2的data是序列化后的数据,直接看不到物理意义,可以转到PointCloud处理 #include<sensor_msgs/PointCloud2.h>#include<sensor_msgs/PointCloud.h>#include<sensor_msgs/point_cloud_conversion.h>sensor_msgs::PointCloud clouddata; sensor_msgs::convertPointCloud2ToPointCloud(msg, clouddata); sensor_m...
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。 点云文件默认保存到当前终端所在文件夹,点云最后的保存形式为时间戳.pcd。 2. ros的订阅sensor_msgs::Image的topic保...
sensor_msgs/PointCloud2: sensor_msgs/PointCloud2 用于表示点云数据,这些数据通常由激光雷达或深度相机等传感器采集。这个消息包括点云的位置信息、颜色信息、时间戳等。 以下是 sensor_msgs/PointCloud2 消息的字段: header:消息头,包括时间戳和坐标系信息。
//发布LaserScan转换为PointCloud2的后的数据 point_cloud_publisher_ = node_.advertise<sensor_msgs::PointCloud2> ("/cloud2", 100, false);//此处的tf是 laser_geometry 要⽤到的 tfListener_.setExtrapolationLimit(ros::Duration(0.1));//前⾯提到的通过订阅PointCloud2，直接转化为pcl::PointCloud...
Much of our visualization is based on the older sensor_msgs/PointCloud message type (costmap has a number of data visualization topics that use it, as does the DWB controller). In ROS Foxy this message has been deprecated. I'm not sure when they anticipate removing it, but we should ...
I also noticed you didn't use the PC2 Modifier object: https://github.com/ros2/common_interfaces/blob/master/sensor_msgs/include/sensor_msgs/point_cloud2_iterator.hpp#L47-L70 Is there a reason for that? It may have made some things simpler, it'll handle some of the field stuff for ...
我有一个将PointCloud2数据发布到的主题。它是/ifm3d/camera/cloud,我创建了自己的节点来将这些数据发布到制图器。制图员有一个points2订阅的主题。但我的问题是,我不知道如何编写将传感器数据发布给制图员的代码。这是我的代码: ... ros::init(argc,argv,"point_cloud_publisher); ros::NodeHandle nh; ro...
sensor_msgs::PointCloud2 cloud;/*laser_geometry包中函数,将 sensor_msgs::LaserScan 转换为 sensor_msgs::PointCloud2*///普通转换//projector_.projectLaser(*scan, cloud);//使用tf的转换projector_.transformLaserScanToPointCloud("laser", *scan, cloud, tfListener_);introw_step =cloud.row_step;int...