ros noetic moveit 将点云话题通过pcl进行三角化后转换为moveit场景scene的Python函数

以下是一个将点云话题通过pcl进行三角化后转换为moveit场景scene的Python函数的示例代码：

import rospy
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

import pcl

def pointcloud_to_scene(msg):
    # Convert PointCloud2 message to pcl point cloud
    cloud = pcl.PointCloud_PointXYZRGB()
    pcl_converted = pcl.PointCloud_PointXYZRGB()
    pcl_converted.fromROSMsg(msg)

    # Triangulate the point cloud
    triangulation = pcl.ConcaveHull_PointXYZRGB()
    triangulation.setInputCloud(pcl_converted)
    triangulation.setAlpha(0.1)
    pcl_tri = pcl.PointCloud_PointXYZRGB()
    triangulation.reconstruct(pcl_tri)

    # Convert pcl point cloud to moveit PlanningScene message
    planning_scene = PlanningScene()
    planning_scene.is_diff = True
    world = PlanningSceneWorld()
    object = SolidPrimitive()
    object.type = SolidPrimitive.TRIANGLE_LIST
    object.points = []
    object.triangles = []
    for i in range(len(pcl_tri)):
        point = Point(pcl_tri[i][0], pcl_tri[i][1], pcl_tri[i][2])
        object.points.append(point)
        object.triangles.append(i)
    pose = Pose()
    pose.orientation.w = 1.0
    world.collision_objects.append(object)
    planning_scene.world = world
    planning_scene.robot_state.is_diff = True

    # Publish the moveit PlanningScene message
    scene_pub.publish(planning_scene)

这个函数订阅一个点云话题，将其转换为pcl point cloud，进行三角化，然后将结果转换为moveit PlanningScene消息，并发布到场景发布者。建议您根据自己的实际需求进行调整。