ros noetic转换mesh为复杂CollisionObject的python代码

以下是将mesh转换为复杂CollisionObject的Python代码示例：

import rospy
from moveit_msgs.msg import CollisionObject, AttachedCollisionObject
from shape_msgs.msg import Mesh, MeshTriangle, SolidPrimitive
from geometry_msgs.msg import Pose, Point, Quaternion

def create_collision_object(mesh_file, object_id):
    # 创建CollisionObject对象
    collision_object = CollisionObject()
    # 设置对象id
    collision_object.id = object_id
    # 设置对象的操作行为为添加
    collision_object.operation = CollisionObject.ADD
    # 创建mesh对象
    mesh = Mesh()
    # 读取mesh文件
    with open(mesh_file, 'r') as f:
        # 逐行读取mesh文件中的数据
        lines = f.readlines()
        # 获取顶点数据
        vertices = [list(map(float, line.strip().split())) for line in lines if line.startswith('v ')]
        # 获取三角形面数据
        triangles = [list(map(int, line.strip().split()[1:])) for line in lines if line.startswith('f ')]
        # 设置mesh三角形面数据
        for triangle in triangles:
            mesh_triangle = MeshTriangle()
            mesh_triangle.vertex_indices = [triangle[0] - 1, triangle[1] - 1, triangle[2] - 1]
            mesh.triangles.append(mesh_triangle)
        # 设置mesh顶点数据
        for vertex in vertices:
            point = Point()
            point.x, point.y, point.z = vertex
            mesh.vertices.append(point)
    # 将mesh添加到CollisionObject
    collision_object.meshes.append(mesh)
    collision_object.mesh_poses.append(Pose())
    # 创建一个外框盒子
    bounding_box = SolidPrimitive()
    bounding_box.type = SolidPrimitive.BOX
    bounding_box.dimensions = [1, 1, 1]
    # 将外框盒子添加到CollisionObject
    collision_object.primitives.append(bounding_box)
    collision_object.primitive_poses.append(Pose())

    # 创建一个圆柱体
    cylinder = SolidPrimitive()
    cylinder.type = SolidPrimitive.CYLINDER
    cylinder.dimensions = [0.1, 0.2]
    # 设置圆柱体的位置和姿态
    cylinder_pose = Pose()
    cylinder_pose.position.x = 0.5
    cylinder_pose.position.y = 0.5
    cylinder_pose.position.z = 0.5
    cylinder_pose.orientation.w = 1.0
    # 将圆柱体添加到CollisionObject
    collision_object.primitives.append(cylinder)
    collision_object.primitive_poses.append(cylinder_pose)

    # 创建一个球体
    sphere = SolidPrimitive()
    sphere.type = SolidPrimitive.SPHERE
    sphere.dimensions = [0.2]
    # 设置球体的位置和姿态
    sphere_pose = Pose()
    sphere_pose.position.x = -0.5
    sphere_pose.position.y = -0.5
    sphere_pose.position.z = -0.5
    sphere_pose.orientation.w = 1.0
    # 将球体添加到CollisionObject
    collision_object.primitives.append(sphere)
    collision_object.primitive_poses.append(sphere_pose)

    return collision_object

使用时，只需调用`create_collision_object`函数，并传入mesh文件路径和对象ID即可创建一个包含多个基本形状的CollisionObject对象，例如：

collision_object = create_collision_object('/path/to/mesh.stl', 'my_mesh')

创建成功后，你可以将CollisionObject发布到MoveIt的Planning Scene中，以便进行碰撞检测等操作。