ros noetic moveit 将点云话题通过0.10.0版本的open3d进行三角化后转换为moveit场景scene，并计算scene的位置的Python函数

以下是将点云话题通过0.10.0版本的open3d进行三角化后转换为moveit场景scene，并计算scene的位置的Python函数的示例代码：

import rospy
import open3d as o3d
from sensor_msgs.msg import PointCloud2
from moveit_msgs.msg import PlanningScene, CollisionObject
from geometry_msgs.msg import Pose, Point, Quaternion

def pointcloud_callback(pointcloud_msg):
    # Convert pointcloud message to open3d pointcloud object
    pcd = o3d.io.read_point_cloud_from_msg(pointcloud_msg)

    # Triangulate pointcloud to create mesh
    mesh, _ = pcd.compute_convex_hull()

    # Convert mesh to moveit CollisionObject
    collision_object = CollisionObject()
    collision_object.header = pointcloud_msg.header
    collision_object.id = "mesh_object"
    collision_object.meshes.append(o3d.io.to_mesh(mesh))
    collision_object.mesh_poses.append(Pose(position=Point(0, 0, 0), orientation=Quaternion(0, 0, 0, 1)))
    collision_object.operation = CollisionObject.ADD

    # Publish CollisionObject to PlanningScene
    scene_msg = PlanningScene()
    scene_msg.world.collision_objects.append(collision_object)
    scene_msg.is_diff = True
    scene_pub.publish(scene_msg)

    # Compute position of scene based on pointcloud
    centroid = pcd.get_center()
    print("Scene position: ", centroid)

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

    # Create publisher for PlanningScene
    scene_pub = rospy.Publisher("/move_group/monitored_planning_scene", PlanningScene, queue_size=1)

    # Subscribe to pointcloud topic
    rospy.Subscriber("/camera/depth/points", PointCloud2, pointcloud_callback)

    rospy.spin()

该函数首先将接收到的点云消息转换为open3d点云对象，然后对其进行三角化以创建网格。接下来，将网格转换为moveit CollisionObject，并将其发布到PlanningScene中。最后，通过计算点云的质心来计算场景的位置。