ros noetic moveit 将点云话题通过0.10.0版本的open3d进行三角化后转换为moveit场景scene的Python函数
时间: 2024-03-12 22:48:57 浏览: 20
可以使用以下Python代码将点云话题通过0.10.0版本的Open3D进行三角化后转换为MoveIt场景Scene:
```python
import rospy
import open3d as o3d
from moveit_msgs.msg import CollisionObject, AttachedCollisionObject, PlanningScene, PlanningSceneWorld
from shape_msgs.msg import SolidPrimitive
from geometry_msgs.msg import Pose
def pointcloud_to_collision_object(pointcloud_topic, object_name):
rospy.init_node('pointcloud_to_collision_object')
# Set up subscribers and publishers
scene_pub = rospy.Publisher('/planning_scene', PlanningScene, queue_size=10)
pointcloud_sub = rospy.Subscriber(pointcloud_topic, PointCloud2, pointcloud_callback)
# Set up Open3D voxel grid filter and triangle mesh creation
voxel_size = 0.01
mesh = o3d.geometry.TriangleMesh.create_from_point_cloud_voxel_down_sample(pointcloud, voxel_size)
# Convert triangle mesh to MoveIt collision object
collision_object = CollisionObject()
collision_object.operation = CollisionObject.ADD
collision_object.id = object_name
primitive = SolidPrimitive()
primitive.type = SolidPrimitive.TRIANGLE_LIST
primitive.triangles = mesh.triangles
primitive.dimensions = [0, 0, 0]
primitive.vertices = mesh.vertices
pose = Pose()
pose.position.x = 0
pose.position.y = 0
pose.position.z = 0
pose.orientation.x = 0
pose.orientation.y = 0
pose.orientation.z = 0
pose.orientation.w = 1
collision_object.primitives.append(primitive)
collision_object.primitive_poses.append(pose)
# Create MoveIt PlanningSceneWorld object and add collision object
world = PlanningSceneWorld()
world.collision_objects.append(collision_object)
# Create MoveIt PlanningScene object and publish
scene = PlanningScene()
scene.is_diff = True
scene.world = world
scene_pub.publish(scene)
rospy.spin()
def pointcloud_callback(msg):
# Convert PointCloud2 message to Open3D PointCloud object
pointcloud = o3d.geometry.PointCloud()
pointcloud.points = o3d.utility.Vector3dVector(msg.data)
if __name__ == '__main__':
pointcloud_to_collision_object('/pointcloud_topic', 'collision_object_name')
```
其中,`pointcloud_topic`为输入点云话题名称,`object_name`为转换后的MoveIt场景中的碰撞物体名称。