How to publish a pointcloud of ros msgs in a topic from a pcd file?

2024-09-04 16:20:40

How to publish a pointcloud of ros msgs in a topic from a pcd file?

Two methods

1. modified source

2. pcd_to_pointcloud

run ros node pcl_ros in a terminal

usage:

$ rosrun pcl_ros pcd_to_pointcloud <file.pcd> [ <interval> ]

Loads a PCD file, publishing it one or more times as a ROS point cloud message.

Published Topics

cloud_pcd (sensor_msgs/PointCloud2)

// A stream of point clouds generated from the PCD file.

// <interval> is the (optional) number of seconds to sleep between messages.

// If <interval> is zero or not specified the message is published once.

in my condition, I use

// can add _frame_id:=/camera_link

$ rosrun pcl_ros pcd_to_pointcloud /home/william/Documents/demos/cylinders/preprocessing/data/realSense02.pcd 10 _frame_id:=/map

run rviz:

$ rosrun rviz rviz

If the frame id you add is not camera_link, then should be edit.

click 'Add', click 'By topic', choose 'Pointcloud2' below topic '/cloud_pcd'. Then the pointcloud can be visualized.

References:

pcl_ros

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