ros moveit中点云图转环境scene的Python接口

如果你是指点云图（即已经通过某种方式生成了点云图像，比如激光雷达扫描等），同样可以使用Python接口将其转换为MoveIt中的环境场景。具体的代码如下：

import rospy
from sensor_msgs.msg import PointCloud2
from moveit_msgs.msg import CollisionObject
from moveit_msgs.srv import ApplyPlanningScene
from shape_msgs.msg import SolidPrimitive
from geometry_msgs.msg import Pose
import numpy as np
import cv2

def pointcloud_to_collision_object(pointcloud_msg):
    # 将点云图像转换为点云数据
    point_cloud = np.zeros((pointcloud_msg.height, pointcloud_msg.width, 3))
    for i in range(pointcloud_msg.height * pointcloud_msg.width):
        point_cloud[i // pointcloud_msg.width][i % pointcloud_msg.width] = [pointcloud_msg.data[i * 3], pointcloud_msg.data[i * 3 + 1], pointcloud_msg.data[i * 3 + 2]]

    # 将点云数据转换为moveit_msgs::CollisionObject消息类型
    collision_object = CollisionObject()
    collision_object.header.frame_id = pointcloud_msg.header.frame_id
    collision_object.id = "pointcloud"

    primitive = SolidPrimitive()
    primitive.type = SolidPrimitive.BOX
    primitive.dimensions = [0.1, 0.1, 0.1]

    pose = Pose()
    pose.orientation.w = 1.0

    collision_object.primitives.append(primitive)
    collision_object.primitive_poses.append(pose)

    return collision_object

def update_planning_scene(collision_object):
    # 将CollisionObject消息发布到/planning_scene中，更新当前的环境场景
    rospy.wait_for_service("/apply_planning_scene")
    try:
        apply_planning_scene = rospy.ServiceProxy("/apply_planning_scene", ApplyPlanningScene)
        request = ApplyPlanningSceneRequest()
        request.scene.is_diff = True
        request.scene.world.collision_objects.append(collision_object)
        response = apply_planning_scene(request)
    except rospy.ServiceException as e:
        rospy.logerr("Failed to update planning scene: {}".format(str(e)))

if __name__ == "__main__":
    rospy.init_node("pointcloud_to_collision_object")

    # 读取点云图像
    pointcloud_image = cv2.imread("pointcloud_image.jpg", cv2.IMREAD_GRAYSCALE)

    # 将点云图像转换为PointCloud2消息
    pointcloud_msg = PointCloud2()
    pointcloud_msg.header.frame_id = "map"
    pointcloud_msg.height = pointcloud_image.shape[0]
    pointcloud_msg.width = pointcloud_image.shape[1]
    pointcloud_msg.is_dense = True
    pointcloud_msg.is_bigendian = False
    pointcloud_msg.fields.append(PointField(name="x", offset=0, datatype=7, count=1))
    pointcloud_msg.fields.append(PointField(name="y", offset=4, datatype=7, count=1))
    pointcloud_msg.fields.append(PointField(name="z", offset=8, datatype=7, count=1))
    pointcloud_msg.point_step = 12
    pointcloud_msg.row_step = pointcloud_image.shape[1] * pointcloud_msg.point_step

    # 将点云图像转换为点云数据
    point_cloud = np.zeros((pointcloud_msg.height, pointcloud_msg.width, 3))
    for i in range(pointcloud_msg.height * pointcloud_msg.width):
        point_cloud[i // pointcloud_msg.width][i % pointcloud_msg.width] = [i % pointcloud_msg.width, i // pointcloud_msg.width, pointcloud_image[i // pointcloud_msg.width][i % pointcloud_msg.width]]

    pointcloud_msg.data = point_cloud.astype(np.float32).tostring()

    # 将PointCloud2消息转换为CollisionObject消息
    collision_object = pointcloud_to_collision_object(pointcloud_msg)

    # 发布CollisionObject消息到/planning_scene中，更新当前的环境场景
    update_planning_scene(collision_object)

    rospy.spin()

在上述代码中，首先读取点云图像，并将其转换为PointCloud2消息。然后将PointCloud2消息转换为点云数据，并将其转换为moveit_msgs::CollisionObject消息类型。最后将CollisionObject消息发布到/planning_scene中，更新当前的环境场景。