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

好的，可以通过以下Python函数将点云话题通过Open3D进行三角化，并将三角化后的mesh转换为环境scene：

import rospy
import open3d as o3d
from moveit_msgs.msg import CollisionObject, AttachedCollisionObject
from shape_msgs.msg import Mesh, MeshTriangle

def convert_pointcloud_to_mesh(pointcloud_topic):
    # Subscribe to the point cloud topic
    pointcloud = rospy.wait_for_message(pointcloud_topic, PointCloud2)

    # Convert the point cloud to an Open3D point cloud
    o3d_pointcloud = o3d.geometry.PointCloud()
    o3d_pointcloud.points = o3d.utility.Vector3dVector([[point.x, point.y, point.z] for point in pc2.read_points(pointcloud)]))

    # Triangulate the point cloud using Open3D
    mesh, _ = o3d.geometry.TriangleMesh.create_from_point_cloud_poisson(o3d_pointcloud)

    # Convert the Open3D mesh to a ROS mesh message
    ros_mesh = Mesh()
    for i in range(len(mesh.triangles)):
        triangle = MeshTriangle()
        triangle.vertex_indices = [mesh.triangles[i][0], mesh.triangles[i][1], mesh.triangles[i][2]]
        ros_mesh.triangles.append(triangle)
        ros_mesh.vertices.append(mesh.vertices[mesh.triangles[i][0]])
        ros_mesh.vertices.append(mesh.vertices[mesh.triangles[i][1]])
        ros_mesh.vertices.append(mesh.vertices[mesh.triangles[i][2]])

    # Create a collision object message from the ROS mesh message
    collision_object = CollisionObject()
    collision_object.header.frame_id = pointcloud.header.frame_id
    collision_object.id = "mesh"
    collision_object.meshes.append(ros_mesh)
    collision_object.mesh_poses.append(pointcloud.header.pose)
    collision_object.operation = CollisionObject.ADD

    # Create an attached collision object message from the collision object message
    attached_collision_object = AttachedCollisionObject()
    attached_collision_object.link_name = "panda_hand"
    attached_collision_object.object = collision_object

    return attached_collision_object

这个函数的输入参数是点云话题的名称，它将返回一个AttachedCollisionObject类型的消息，可以将其添加到MoveIt!的planning scene中，以便在规划机器人运动时考虑环境中的障碍物。