ros noetic moveit 将点云话题通过open3d进行三角化后转换为moveit场景scene的Python函数
时间: 2024-03-12 14:43:12 浏览: 31
以下是将点云话题通过open3d进行三角化后转换为moveit场景scene的Python函数的示例代码:
```python
import rospy
import open3d as o3d
from sensor_msgs.msg import PointCloud2
from moveit_msgs.msg import PlanningScene, PlanningSceneWorld
from shape_msgs.msg import SolidPrimitive
from geometry_msgs.msg import Pose, Point, Quaternion
def pointcloud_to_scene(pointcloud_topic):
rospy.init_node('pointcloud_to_scene')
# Subscribe to the point cloud topic
pointcloud = rospy.wait_for_message(pointcloud_topic, PointCloud2)
# Convert the point cloud message to an open3d point cloud
pcd = o3d.geometry.PointCloud()
pcd.points = o3d.utility.Vector3dVector(pointcloud.data)
# Perform the triangulation
mesh, _ = pcd.hidden_point_removal()
mesh.compute_vertex_normals()
mesh.compute_triangle_normals()
# Convert the mesh to a moveit planning scene
scene = PlanningScene()
world = PlanningSceneWorld()
# Create a new object in the world
obj = SolidPrimitive()
obj.type = SolidPrimitive.TRIANGLE_LIST
obj.dimensions = [0] * 3 * len(mesh.triangles)
for i, tri in enumerate(mesh.triangles):
for j in range(3):
obj.dimensions[3*i+j] = mesh.vertices[tri[j]]
# Set the pose of the object to be the origin
pose = Pose()
pose.position = Point()
pose.orientation = Quaternion()
# Add the object to the world
world.collision_objects.append(PlanningSceneWorld.CollisionObject(id='pointcloud_mesh', primitives=[obj], primitive_poses=[pose]))
scene.world = world
# Publish the scene
pub = rospy.Publisher('/planning_scene', PlanningScene, queue_size=10)
pub.publish(scene)
rospy.spin()
```
需要注意的是,这个函数只是一个示例,可能需要根据具体的应用场景进行修改。此外,由于open3d的使用可能需要一定的计算资源,建议在使用时注意资源占用情况。
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