初次学习ros2和pcl，尝试在ros2中创建节点，加载pcd文件，并在rviz中进行可视化，记录一下整个过程。
编辑环境
ubuntu20.04 + ros2_foxy
创建节点
mkdir -p proj_ws_pcl/src #创建工程文件夹
cd proj_ws_pcl/src #创建源码文件夹
ros2 pkg create --build-type=ament_cmake --node-name reg_pcl # 创建节点
创建好后，文件目录工程如下
proj_ws_pcl
└── src
└── pcl_reg
├── CMakeLists.txt
├── include（可选）
│ └── pcl_reg
├── package.xml
└── src
├── other.txt
├── pt_show.cpp（可选）
└── reg_pcl.cpp
编辑代码
修改pcl_reg/src/reg_pcl.cpp代码
#include <iostream>
#include <chrono>
#include <memory>
#include <rclcpp/rclcpp.hpp>
#include <sensor_msgs/msg/point_cloud2.hpp>
#include "pcl_conversions/pcl_conversions.h"
#include <pcl/point_types.h>
#include <pcl/point_cloud.h>
// typedef pcl::PointXYZRGB PointType;
using namespace std::chrono_literals;
class PointCloudPublisher : public rclcpp::Node
{
public:
PointCloudPublisher() : Node("point_cloud_publisher")
{
count = 2133;
// 创建一个Publisher，发布PointCloud2消息到名为"pt"的topic
publisher_ = this->create_publisher<sensor_msgs::msg::PointCloud2>("pt", 10);
// 创建一个定时器，每秒钟发布一次PointCloud2消息 std::chrono::seconds(1)
timer_ = this->create_wall_timer(1s, std::bind(&PointCloudPublisher::publishPointCloud, this));
}
private:
void publishPointCloud()
{
// 创建一个PointCloud对象
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZRGB>);
// 填充PointCloud数据（此处仅为示例）
// 从PCD文件中加载点云数据
std::string path_pcd = "/home/liangwx/proj_ws/src/gimbal/RAW_POINTCLOUD_20240509_165837.444_cut.pcd";
// std::string path_pcd = "/path/to/point_cloud_name"+std::to_string(count)+".pcd";
if (pcl::io::loadPCDFile<pcl::PointXYZRGB>(path_pcd, *cloud) == -1)
{
PCL_ERROR("Failed to load PCD file\n");
// return;
}
count++;
RCLCPP_INFO(this->get_logger(), "Publishing: '%d'", count);
// 创建一个PointCloud2消息
sensor_msgs::msg::PointCloud2::UniquePtr cloud_msg(new sensor_msgs::msg::PointCloud2);
pcl::toROSMsg(*cloud, *cloud_msg);
cloud_msg->header.frame_id = "base_link"; // 设置坐标系
// 设置PointCloud2消息的时间戳
cloud_msg->header.stamp = this->now();
// 发布PointCloud2消息到"pt"的topic
publisher_->publish(std::move(cloud_msg));
}
/// @brief
int count;
rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr publisher_;
rclcpp::TimerBase::SharedPtr timer_;
};
int main(int argc, char** argv)
{
// 读取点云点云序列并发布名为pt的topic，然后使用rviz2订阅pt并可视化
rclcpp::init(argc, argv);
auto node = std::make_shared<PointCloudPublisher>();
rclcpp::spin(node);
rclcpp::shutdown();
// 读取单个点云
// pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZRGB>);
// int count = 2133;
// std::string path_pcd = "/home/apollo/zr/code/dataset_sim_gazebo/point_cloud"+std::to_string(count)+".pcd";
// if (pcl::io::loadPCDFile<pcl::PointXYZRGB>(path_pcd, *cloud) == -1)
// {
// PCL_ERROR("Failed to load PCD file\n");
// // return;
// }
return 0;
}
编辑CMakeList.txt文件
cmake_minimum_required(VERSION 3.5)
project(pcl_reg)
# Default to C99
if(NOT CMAKE_C_STANDARD)
set(CMAKE_C_STANDARD 99)
endif()
# Default to C++14
if(NOT CMAKE_CXX_STANDARD)
set(CMAKE_CXX_STANDARD 14)
endif()
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Wpedantic)
endif()
# find dependencies
find_package(ament_cmake REQUIRED)
# uncomment the following section in order to fill in
# further dependencies manually.
# find_package(<dependency> REQUIRED)
#########################################################
# 寻找依赖库（标准库）
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(sensor_msgs REQUIRED)
# 寻找依赖库（外部库）
find_package(Eigen3 REQUIRED)
# 针对PCL库版本不适配会出现warning，做的取消注释，其实没有解决问题，真正补丁在pcl的github的4431，如果不用补丁需要升级pcl的版本为1.12.我使用的是1.8版本会报错
if(NOT DEFINED CMAKE_SUPPRESS_DEVELOPER_WARNINGS)
set(CMAKE_SUPPRESS_DEVELOPER_WARNINGS 1 CACHE INTERNAL "No dev warnings")
endif()
find_package(PCL REQUIRED)
find_package(rviz2 REQUIRED)
# find_package(OpenCV 3.2.0 REQUIRED)
# 添加包含路径
include_directories(
/usr/include
${EIGEN3_INCLUDE_DIRS}
${PCL_INCLUDE_DIRS}
${RVIZ2_INCLUDE_DIRS}
# ${OpenCV_INCLUDE_DIRS}
)
# 添加可执行文件
add_executable(reg_pcl src/reg_pcl.cpp)
ament_target_dependencies(reg_pcl rclcpp sensor_msgs)
target_link_libraries(reg_pcl
${PCL_LIBRARIES}
# ${OpenCV_LIBS}
)
#########################################################
#add_executable(reg_pcl src/reg_pcl.cpp)
target_include_directories(reg_pcl PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>)
install(TARGETS reg_pcl
DESTINATION lib/${PROJECT_NAME})
#####################################################
install(TARGETS
reg_pcl
# pt_show
EXPORT export_${PROJECT_NAME}
DESTINATION lib/${PROJECT_NAME})
#####################################################
if(BUILD_TESTING)
find_package(ament_lint_auto REQUIRED)
# the following line skips the linter which checks for copyrights
# uncomment the line when a copyright and license is not present in all source files
#set(ament_cmake_copyright_FOUND TRUE)
# the following line skips cpplint (only works in a git repo)
# uncomment the line when this package is not in a git repo
#set(ament_cmake_cpplint_FOUND TRUE)
ament_lint_auto_find_test_dependencies()
endif()
ament_package()
编译运行
在proj_ws_pcl目录下进行编译
编译代码
cd ..
colcon build
运行节点
source install/setup.bash
ros2 run pcl_reg reg_pcl
可视化点云
rviz2
参考链接
https://blog.csdn.net/sinat_21699465/article/details/132567374
