ros noetic moveit 将点云话题通过0.10.0 open3d进行三角化后转换为环境scene的Python函数

以下是一个将点云话题通过 Open3D 进行三角化并转换为 MoveIt! 环境场景的 Python 函数：

#!/usr/bin/env python

import rospy
import open3d as o3d
import moveit_commander
from moveit_msgs.msg import CollisionObject, PlanningScene
from shape_msgs.msg import SolidPrimitive
from geometry_msgs.msg import PoseStamped
from sensor_msgs.msg import PointCloud2
from ros_numpy import point_cloud2

def point_cloud_to_scene(data):
    # Convert PointCloud2 to numpy array and then to Open3D point cloud
    points = point_cloud2.pointcloud2_to_xyz_array(data)
    pcd = o3d.geometry.PointCloud()
    pcd.points = o3d.utility.Vector3dVector(points)

    # Perform point cloud downsampling and triangulation
    pcd = pcd.voxel_down_sample(voxel_size=0.01)
    pcd, _ = pcd.remove_radius_outlier(nb_points=16, radius=0.05)
    mesh, _ = o3d.geometry.TriangleMesh.create_from_point_cloud_poisson(pcd, depth=8)

    # Convert Open3D mesh to MoveIt! collision object
    scene = PlanningScene()
    collision_object = CollisionObject()
    collision_object.header = data.header
    collision_object.operation = CollisionObject.ADD
    collision_object.id = "point_cloud_mesh"
    primitive = SolidPrimitive()
    primitive.type = SolidPrimitive.TRIANGLE_LIST
    primitive.triangles = o3d.utility.Vector3iVector(mesh.triangles)
    primitive.dimensions = [0.0, 0.0, 0.0]
    pose = PoseStamped()
    pose.header = data.header
    pose.pose.orientation.w = 1.0
    collision_object.primitives.append(primitive)
    collision_object.primitive_poses.append(pose.pose)
    scene.world.collision_objects.append(collision_object)
    scene.is_diff = True

    return scene

if __name__ == '__main__':
    rospy.init_node('point_cloud_to_scene')
    moveit_commander.roscpp_initialize(sys.argv)
    planning_scene_publisher = rospy.Publisher('/planning_scene', PlanningScene, queue_size=10)
    rospy.Subscriber('/point_cloud_topic', PointCloud2, point_cloud_to_scene)
    rospy.spin()

这个函数将订阅名为 `/point_cloud_topic` 的点云话题，并将其转换为 MoveIt! 环境场景。在转换过程中，它使用 Open3D 进行点云下采样和三角化。最终，它将三角化后的网格转换为 MoveIt! 碰撞对象，并将其发布到 `/planning_scene` 话题上。

请注意，此代码仅供参考，您可能需要根据自己的需求进行修改。