ros noetic moveit中订阅点云话题将所有点云三角化后转换成环境scene的Python函数

以下是一个订阅点云话题，将所有点云三角化后转换成MoveIt环境scene的Python函数示例：

import rospy
from sensor_msgs.msg import PointCloud2
from moveit_msgs.msg import CollisionObject, PlanningScene

def pointcloud_callback(msg):
    # 将点云转换为三角形网格
    # 这里使用了open3d库进行三角化，需要先安装open3d库
    import open3d as o3d
    pcd = o3d.geometry.PointCloud()
    pcd.points = o3d.utility.Vector3dVector(msg.data)
    pcd.estimate_normals()
    distances = pcd.compute_nearest_neighbor_distance()
    avg_dist = np.mean(distances)
    radius = 3 * avg_dist
    bpa_mesh = o3d.geometry.TriangleMesh.create_from_point_cloud_ball_pivoting(pcd, o3d.utility.DoubleVector([radius, radius * 2]))
    vertices = np.asarray(bpa_mesh.vertices)
    triangles = np.asarray(bpa_mesh.triangles)

    # 将三角形网格转换为CollisionObject
    collision_object = CollisionObject()
    collision_object.header.frame_id = "camera_link"
    collision_object.id = "pointcloud_mesh"
    mesh = SolidPrimitive()
    mesh.type = SolidPrimitive.TRIANGLE_LIST
    mesh.vertices = []
    mesh.triangles = []
    for vertex in vertices:
        mesh.vertices.append(Point(x=vertex[0], y=vertex[1], z=vertex[2]))
    for triangle in triangles:
        mesh.triangles.append(Int32MultiArray(data=triangle))
    collision_object.primitives.append(mesh)
    collision_object.primitive_poses.append(Pose())
    collision_object.operation = CollisionObject.ADD

    # 发布PlanningScene消息
    planning_scene = PlanningScene()
    planning_scene.world.collision_objects.append(collision_object)
    planning_scene.is_diff = True
    planning_scene_publisher.publish(planning_scene)

# 初始化ROS节点和订阅者
rospy.init_node('pointcloud_to_scene')
pointcloud_subscriber = rospy.Subscriber('/camera/depth/points', PointCloud2, pointcloud_callback)
planning_scene_publisher = rospy.Publisher('/planning_scene', PlanningScene, queue_size=1)

rospy.spin()

这个函数将订阅`/camera/depth/points`话题，将收到的点云转换为三角形网格，并将其转换为MoveIt的CollisionObject，最终发布到`/planning_scene`话题上。注意，这个函数中使用了open3d库进行三角化，需要先安装open3d库。