ros noetic moveit 将点云话题通过open3d进行三角化，并将三角后的mesh转换为环境scene的Python函数

可以使用以下Python代码将点云话题通过Open3D进行三角化，并将三角后的mesh转换为环境scene：

import open3d as o3d

def pointcloud_to_mesh(pointcloud_topic):
    # Subscribe to point cloud topic and convert to Open3D point cloud
    # Assuming the point cloud topic is of type sensor_msgs/PointCloud2
    pc = rospy.wait_for_message(pointcloud_topic, PointCloud2)
    pc_np = ros_numpy.point_cloud2.pointcloud2_to_array(pc)
    pcd = o3d.geometry.PointCloud()
    pcd.points = o3d.utility.Vector3dVector(pc_np['x', 'y', 'z'])

    # Triangulate the point cloud to form a mesh
    mesh, _ = o3d.geometry.TriangleMesh.create_from_point_cloud_poisson(pcd)

    # Convert the mesh to a scene and return
    scene = moveit_msgs.msg.PlanningScene()
    scene.world.collision_objects.append(mesh_to_collision_object(mesh))
    return scene

def mesh_to_collision_object(mesh):
    # Convert Open3D mesh to MoveIt CollisionObject
    co = moveit_msgs.msg.CollisionObject()
    co.header.frame_id = "world"
    co.id = "mesh"
    co.meshes.append(o3d_to_mesh_msg(mesh))
    co.mesh_poses.append(geometry_msgs.msg.Pose())
    co.meshes[0].triangles = [moveit_msgs.msg.MeshTriangle(i, i+1, i+2) for i in range(0, len(mesh.triangles), 3)]
    co.operation = moveit_msgs.msg.CollisionObject.ADD
    return co

def o3d_to_mesh_msg(mesh):
    # Convert Open3D mesh to MoveIt Mesh
    mesh_msg = shape_msgs.msg.Mesh()
    mesh_msg.vertices = [geometry_msgs.msg.Point(x, y, z) for x, y, z in mesh.vertices]
    mesh_msg.triangles = [shape_msgs.msg.MeshTriangle(a, b, c) for a, b, c in mesh.triangles]
    return mesh_msg

这个函数将订阅给定的点云话题，将其转换为Open3D点云，并使用Poisson重建算法进行三角化。然后，将三角化后的网格转换为MoveIt碰撞对象，并将其添加到MoveIt规划场景中。请注意，此函数需要使用以下依赖项：

- `rospy`：用于ROS通信
- `ros_numpy`：用于将ROS消息转换为NumPy数组
- `moveit_msgs.msg`：用于MoveIt规划场景和碰撞对象
- `geometry_msgs.msg`：用于网格的姿态
- `shape_msgs.msg`：用于网格的顶点和三角形