将一个pcd文件放在Rviz中进行显示

小灰灰 2023-10-12 19:29 29阅读 0赞

环境：ROS(melodic) + PCL1.9

### 源码如下： ###

#include<ros/ros.h>
    #include<pcl/point_cloud.h>
    #include<pcl_conversions/pcl_conversions.h>
    #include<sensor_msgs/PointCloud2.h>
    #include<pcl/io/pcd_io.h>//which contains the required definitions to load and store point clouds to PCD and other file formats.
     
    main (int argc, char **argv)
    {
        
      ros::init (argc, argv, "UandBdetect");
      ros::NodeHandle nh;
      ros::Publisher pcl_pub = nh.advertise<sensor_msgs::PointCloud2> ("pcl_output", 1);
      pcl::PointCloud<pcl::PointXYZ> cloud;
      sensor_msgs::PointCloud2 output;
      pcl::io::loadPCDFile ("/home/user/pcl_test/build/test_pcd.pcd", cloud);
    // your directory
      //Convert the cloud to ROS message
      pcl::toROSMsg(cloud, output);
      output.header.frame_id = "odom";
      
      //this has been done in order to be able to visualize our PointCloud2 message on the RViz visualizer    
      ros::Rate loop_rate(1);
      while (ros::ok())
      {
        
        pcl_pub.publish(output);
        ros::spinOnce();
        loop_rate.sleep();
      }
      return 0;
    }

**注意：把pcl::io::loadPCDFile下的路径换成你自己的pcd文件路径**

### CMakeLists.txt如下： ###

cmake_minimum_required(VERSION 3.0.2)
    project(load_pcd)
    
    ## Compile as C++11, supported in ROS Kinetic and newer
    # add_compile_options(-std=c++11)
    set(PCL_DIR "/usr/share/pcl-1.9")
    ## Find catkin macros and libraries
    ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
    ## is used, also find other catkin packages
    find_package(catkin REQUIRED COMPONENTS
      pcl_conversions
      pcl_ros
      roscpp
      sensor_msgs
      PCL
    )
    
    ## System dependencies are found with CMake's conventions
    # find_package(Boost REQUIRED COMPONENTS system)
    
    
    ## Uncomment this if the package has a setup.py. This macro ensures
    ## modules and global scripts declared therein get installed
    ## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
    # catkin_python_setup()
    
    ################################################
    ## Declare ROS messages, services and actions ##
    ################################################
    
    ## To declare and build messages, services or actions from within this
    ## package, follow these steps:
    ## * Let MSG_DEP_SET be the set of packages whose message types you use in
    ##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
    ## * In the file package.xml:
    ##   * add a build_depend tag for "message_generation"
    ##   * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
    ##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
    ##     but can be declared for certainty nonetheless:
    ##     * add a exec_depend tag for "message_runtime"
    ## * In this file (CMakeLists.txt):
    ##   * add "message_generation" and every package in MSG_DEP_SET to
    ##     find_package(catkin REQUIRED COMPONENTS ...)
    ##   * add "message_runtime" and every package in MSG_DEP_SET to
    ##     catkin_package(CATKIN_DEPENDS ...)
    ##   * uncomment the add_*_files sections below as needed
    ##     and list every .msg/.srv/.action file to be processed
    ##   * uncomment the generate_messages entry below
    ##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
    
    ## Generate messages in the 'msg' folder
    # add_message_files(
    #   FILES
    #   Message1.msg
    #   Message2.msg
    # )
    
    ## Generate services in the 'srv' folder
    # add_service_files(
    #   FILES
    #   Service1.srv
    #   Service2.srv
    # )
    
    ## Generate actions in the 'action' folder
    # add_action_files(
    #   FILES
    #   Action1.action
    #   Action2.action
    # )
    
    ## Generate added messages and services with any dependencies listed here
    # generate_messages(
    #   DEPENDENCIES
    #   sensor_msgs
    # )
    
    ################################################
    ## Declare ROS dynamic reconfigure parameters ##
    ################################################
    
    ## To declare and build dynamic reconfigure parameters within this
    ## package, follow these steps:
    ## * In the file package.xml:
    ##   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
    ## * In this file (CMakeLists.txt):
    ##   * add "dynamic_reconfigure" to
    ##     find_package(catkin REQUIRED COMPONENTS ...)
    ##   * uncomment the "generate_dynamic_reconfigure_options" section below
    ##     and list every .cfg file to be processed
    
    ## Generate dynamic reconfigure parameters in the 'cfg' folder
    # generate_dynamic_reconfigure_options(
    #   cfg/DynReconf1.cfg
    #   cfg/DynReconf2.cfg
    # )
    
    ###################################
    ## catkin specific configuration ##
    ###################################
    ## The catkin_package macro generates cmake config files for your package
    ## Declare things to be passed to dependent projects
    ## INCLUDE_DIRS: uncomment this if your package contains header files
    ## LIBRARIES: libraries you create in this project that dependent projects also need
    ## CATKIN_DEPENDS: catkin_packages dependent projects also need
    ## DEPENDS: system dependencies of this project that dependent projects also need
    catkin_package(
    #  INCLUDE_DIRS include
    #  LIBRARIES load_pcd
    #  CATKIN_DEPENDS pcl_conversions pcl_ros roscpp sensor_msgs
    #  DEPENDS system_lib
    )
    
    ###########
    ## Build ##
    ###########
    
    ## Specify additional locations of header files
    ## Your package locations should be listed before other locations
    include_directories(
    # include
      ${
        catkin_INCLUDE_DIRS}
      ${
        PCL_INCLUDE_DIRS}
    )
    
    ## Declare a C++ library
    # add_library(${
        PROJECT_NAME}
    #   src/${
        PROJECT_NAME}/load_pcd.cpp
    # )
    
    ## Add cmake target dependencies of the library
    ## as an example, code may need to be generated before libraries
    ## either from message generation or dynamic reconfigure
    # add_dependencies(${
        PROJECT_NAME} ${
        ${
        PROJECT_NAME}_EXPORTED_TARGETS} ${
        catkin_EXPORTED_TARGETS})
    
    ## Declare a C++ executable
    ## With catkin_make all packages are built within a single CMake context
    ## The recommended prefix ensures that target names across packages don't collide
    # add_executable(${
        PROJECT_NAME}_node src/load_pcd_node.cpp)
    
    ## Rename C++ executable without prefix
    ## The above recommended prefix causes long target names, the following renames the
    ## target back to the shorter version for ease of user use
    ## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
    # set_target_properties(${
        PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
    
    ## Add cmake target dependencies of the executable
    ## same as for the library above
    # add_dependencies(${
        PROJECT_NAME}_node ${
        ${
        PROJECT_NAME}_EXPORTED_TARGETS} ${
        catkin_EXPORTED_TARGETS})
    
    ## Specify libraries to link a library or executable target against
    # target_link_libraries(${
        PROJECT_NAME}_node
    #   ${
        catkin_LIBRARIES}
    # )
    link_directories(${
        PCL_LIBRARY_DIRS})
    add_definitions(${
        PCL_DEFINITIONS})
    add_executable(load_pcd src/load_pcd.cpp)
    target_link_libraries(load_pcd ${
        catkin_LIBRARIES})
    #############
    ## Install ##
    #############
    
    # all install targets should use catkin DESTINATION variables
    # See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
    
    ## Mark executable scripts (Python etc.) for installation
    ## in contrast to setup.py, you can choose the destination
    # catkin_install_python(PROGRAMS
    #   scripts/my_python_script
    #   DESTINATION ${
        CATKIN_PACKAGE_BIN_DESTINATION}
    # )
    
    ## Mark executables for installation
    ## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
    # install(TARGETS ${
        PROJECT_NAME}_node
    #   RUNTIME DESTINATION ${
        CATKIN_PACKAGE_BIN_DESTINATION}
    # )
    
    ## Mark libraries for installation
    ## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
    # install(TARGETS ${
        PROJECT_NAME}
    #   ARCHIVE DESTINATION ${
        CATKIN_PACKAGE_LIB_DESTINATION}
    #   LIBRARY DESTINATION ${
        CATKIN_PACKAGE_LIB_DESTINATION}
    #   RUNTIME DESTINATION ${
        CATKIN_GLOBAL_BIN_DESTINATION}
    # )
    
    ## Mark cpp header files for installation
    # install(DIRECTORY include/${
        PROJECT_NAME}/
    #   DESTINATION ${
        CATKIN_PACKAGE_INCLUDE_DESTINATION}
    #   FILES_MATCHING PATTERN "*.h"
    #   PATTERN ".svn" EXCLUDE
    # )
    
    ## Mark other files for installation (e.g. launch and bag files, etc.)
    # install(FILES
    #   # myfile1
    #   # myfile2
    #   DESTINATION ${
        CATKIN_PACKAGE_SHARE_DESTINATION}
    # )
    
    #############
    ## Testing ##
    #############
    
    ## Add gtest based cpp test target and link libraries
    # catkin_add_gtest(${
        PROJECT_NAME}-test test/test_load_pcd.cpp)
    # if(TARGET ${
        PROJECT_NAME}-test)
    #   target_link_libraries(${
        PROJECT_NAME}-test ${
        PROJECT_NAME})
    # endif()
    
    ## Add folders to be run by python nosetests
    # catkin_add_nosetests(test)

### package.xml如下： ###

<?xml version="1.0"?>
    <package format="2">
      <name>load_pcd</name>
      <version>0.0.0</version>
      <description>The load_pcd package</description>
    
      
      
      
      <maintainer email="user@todo.todo">user</maintainer>
    
    
      
      
      
      <license>TODO</license>
    
    
      
      
      
      
    
    
      
      
      
      
    
    
      
      
      
      
      
      
      
      
      
      
      
      
      
      
      
      
      
      
      
      
      <buildtool_depend>catkin</buildtool_depend>
      <build_depend>pcl_conversions</build_depend>
      <build_depend>pcl_ros</build_depend>
      <build_depend>roscpp</build_depend>
      <build_depend>sensor_msgs</build_depend>
      <build_export_depend>pcl_conversions</build_export_depend>
      <build_export_depend>pcl_ros</build_export_depend>
      <build_export_depend>roscpp</build_export_depend>
      <build_export_depend>sensor_msgs</build_export_depend>
      <exec_depend>pcl_conversions</exec_depend>
      <exec_depend>pcl_ros</exec_depend>
      <exec_depend>roscpp</exec_depend>
      <exec_depend>sensor_msgs</exec_depend>
      <build_depend>libpcl-all-dev</build_depend>
      <exec_depend>libpcl-all</exec_depend>
    
      
      <export>
        
    
      </export>
    </package>

### 执行步骤 ###

运行：

rosrun load_pcd load_pcd

再运行：

rviz

这个时候Global Status是状态异常的：  
![在这里插入图片描述][eb811d28817e4ec39d6bc15107d129a2.png]  
状态是因为没有/tf话题，用下面的语句启动/tf话题  
再运行：

rosrun tf static_transform_publisher 0.0 0.0 0.0 0 0.0 0.0 map odom 100

就变好了：  
![在这里插入图片描述][26360abe6011486aacc10f82dcade323.png]  
![在这里插入图片描述][2c1f07661bf7489ca8c104ba08f3aa7b.png]  
再添加指定话题：  
![在这里插入图片描述][daec25a8037e44298292a2c27fcb2d1c.png]  
成功得到啦！  
![在这里插入图片描述][8694337a13b24b9385c64b33d650de11.png]

[eb811d28817e4ec39d6bc15107d129a2.png]: https://img-blog.csdnimg.cn/eb811d28817e4ec39d6bc15107d129a2.png
[26360abe6011486aacc10f82dcade323.png]: https://img-blog.csdnimg.cn/26360abe6011486aacc10f82dcade323.png
[2c1f07661bf7489ca8c104ba08f3aa7b.png]: https://img-blog.csdnimg.cn/2c1f07661bf7489ca8c104ba08f3aa7b.png
[daec25a8037e44298292a2c27fcb2d1c.png]: https://img-blog.csdnimg.cn/daec25a8037e44298292a2c27fcb2d1c.png
[8694337a13b24b9385c64b33d650de11.png]: https://img-blog.csdnimg.cn/8694337a13b24b9385c64b33d650de11.png