ros moveit中订阅点云话题将多个点云转环境scene的Python接口
时间: 2024-03-05 14:50:18 浏览: 100
ros_fuse_point_cloud:[ROS] 提供节点订阅多个点云并将它们融合为一个
你可以使用MoveIt的Python接口来订阅点云话题,并将多个点云转换为MoveIt场景中的环境。以下是一个简单的示例代码:
```python
import rospy
from moveit_msgs.msg import PlanningScene, PlanningSceneWorld
from shape_msgs.msg import SolidPrimitive
from geometry_msgs.msg import Pose, Point
class PointCloudToPlanningScene:
def __init__(self):
rospy.init_node('point_cloud_to_planning_scene')
self.planning_scene_pub = rospy.Publisher('/move_group/monitored_planning_scene', PlanningScene, queue_size=10)
rospy.Subscriber('/point_cloud_topic', PointCloud2, self.point_cloud_callback)
self.planning_scene = PlanningScene()
self.planning_scene.world = PlanningSceneWorld()
self.planning_scene.is_diff = True
def point_cloud_callback(self, point_cloud):
# process point cloud and create a list of SolidPrimitives and their poses
solid_primitives = []
poses = []
for point in point_cloud:
# create a SolidPrimitive for each point
solid_primitive = SolidPrimitive()
solid_primitive.type = SolidPrimitive.SPHERE
solid_primitive.dimensions = [0.05] # diameter of the sphere
solid_primitives.append(solid_primitive)
# create a Pose for each point
pose = Pose()
pose.position = Point(point.x, point.y, point.z)
poses.append(pose)
# create a CollisionObject for all SolidPrimitives and their poses
collision_object = CollisionObject()
collision_object.id = 'point_cloud'
collision_object.operation = CollisionObject.ADD
collision_object.primitives = solid_primitives
collision_object.primitive_poses = poses
# add CollisionObject to the PlanningSceneWorld
self.planning_scene.world.collision_objects.append(collision_object)
# publish the updated PlanningScene
self.planning_scene_pub.publish(self.planning_scene)
if __name__ == '__main__':
try:
PointCloudToPlanningScene()
rospy.spin()
except rospy.ROSInterruptException:
pass
```
这个例子中,我们订阅了一个名为`/point_cloud_topic`的点云话题,并在`point_cloud_callback`回调函数中将每个点转换为一个SolidPrimitive和它的姿态。然后我们将所有的SolidPrimitive和姿态组合成一个CollisionObject,并将其添加到PlanningSceneWorld中。最后,我们发布更新的PlanningScene。
你可以根据你的特定需求修改这个例子中的代码。
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