ros noetic moveit 将点云话题的所有点云经过open3d三角化后为一个整体后转换成环境scene的python函数

可以使用以下Python函数将点云话题的所有点云经过Open3D三角化后转换成MoveIt!环境中的场景（scene）：

import rospy
from moveit_msgs.msg import CollisionObject, PlanningScene
from shape_msgs.msg import SolidPrimitive
from geometry_msgs.msg import Pose
import open3d as o3d
import numpy as np

def create_collision_object(pointcloud_topic):
    # Initialize ROS node
    rospy.init_node('pointcloud_to_scene')

    # Subscribe to point cloud topic
    pointcloud = rospy.wait_for_message(pointcloud_topic, PointCloud2)

    # Convert point cloud message to numpy array
    points = np.array(list(pointcloud.data), dtype=np.float32).reshape(-1, pointcloud.point_step)

    # Remove invalid points
    points = points[~np.isnan(points).any(axis=1)]

    # Create Open3D point cloud object
    pcd = o3d.geometry.PointCloud()
    pcd.points = o3d.utility.Vector3dVector(points[:, :3])

    # Triangulate point cloud
    pcd.estimate_normals()
    pcd.orient_normals_towards_camera_location()
    pcd.normalize_normals()
    distances = pcd.compute_nearest_neighbor_distance()
    avg_distance = np.mean(distances)
    radius = 2 * avg_distance
    bpa_mesh = o3d.geometry.TriangleMesh.create_from_point_cloud_ball_pivoting(
        pcd, o3d.utility.DoubleVector([radius, radius * 2]))

    # Convert Open3D mesh to MoveIt! collision object
    collision_mesh = CollisionObject()
    collision_mesh.header.frame_id = pointcloud.header.frame_id
    collision_mesh.id = 'pointcloud_mesh'
    mesh_msg = o3d.io.read_triangle_mesh_as_stl(bpa_mesh)
    collision_mesh.meshes.append(mesh_msg)
    collision_mesh.mesh_poses.append(Pose())

    # Create MoveIt! planning scene
    scene = PlanningScene()
    scene.world.collision_objects.append(collision_mesh)
    scene.is_diff = True

    return scene

这个函数首先订阅给定的点云话题，并将其转换为一个numpy数组。然后，它使用Open3D库将点云三角化，并将结果转换为MoveIt!的碰撞对象（CollisionObject）。最后，它将碰撞对象添加到MoveIt!的规划场景（PlanningScene）中。