ros noetic moveit中订阅点云话题将所有点云组合成一个整体后转换成环境scene的Python函数

可以使用以下Python代码将订阅的点云合并成一个整体，并将其转换为MoveIt中的场景（scene）：

import rospy
from moveit_msgs.msg import CollisionObject, AttachedCollisionObject
from sensor_msgs.msg import PointCloud2
import sensor_msgs.point_cloud2 as pc2
import numpy as np

class PointCloudToScene:

    def __init__(self):
        self.pc_sub = rospy.Subscriber("/your/point_cloud_topic", PointCloud2, self.callback)
        self.scene_pub = rospy.Publisher("/collision_object", CollisionObject, queue_size=10)
        self.scene_attach_pub = rospy.Publisher("/attached_collision_object", AttachedCollisionObject, queue_size=10)
        self.points = []
        self.cloud_frame = ""
        self.cloud_time = None

    def callback(self, data):
        if self.cloud_frame != data.header.frame_id:
            self.points = []
            self.cloud_frame = data.header.frame_id
        self.cloud_time = data.header.stamp
        for p in pc2.read_points(data, field_names=("x", "y", "z"), skip_nans=True):
            self.points.append(p)
        self.publish_scene()

    def publish_scene(self):
        if not self.points:
            return
        # Combine all points into a single numpy array
        points_np = np.array(self.points)
        # Create CollisionObject message
        obj = CollisionObject()
        obj.header.frame_id = self.cloud_frame
        obj.header.stamp = self.cloud_time
        obj.operation = CollisionObject.ADD
        obj.id = "point_cloud_scene"
        # Create mesh of convex hull of the points
        hull_indices = scipy.spatial.ConvexHull(points_np).vertices
        hull_points = points_np[hull_indices]
        obj.mesh_poses.append(geometry_msgs.msg.Pose())
        obj.meshes.append(self.create_mesh(hull_points))
        # Publish the scene message
        self.scene_pub.publish(obj)

    def create_mesh(self, points):
        mesh = shape_msgs.msg.Mesh()
        vertices = []
        for p in points:
            vertices.append(geometry_msgs.msg.Point(p[0], p[1], p[2]))
        triangles = []
        for i in range(1, len(points)-1):
            triangles.append(shape_msgs.msg.MeshTriangle(0, i, i+1))
        mesh.vertices = vertices
        mesh.triangles = triangles
        return mesh

该代码创建了一个名为PointCloudToScene的类，其中订阅了一个点云话题，并将其转换为MoveIt中的场景消息。在收到新的点云消息时，它会将点云中的所有点组合成一个单独的numpy数组，并将其转换为一个具有凸包网格的CollisionObject消息。最后，它会将CollisionObject消息发布到MoveIt的场景（CollisionScene）中。

注意：在使用此代码之前，您需要安装moveit_msgs，sensor_msgs和numpy等必要的依赖项。