ros moveit中订阅点云话题将多个点云转环境scene的Python接口

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：

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。