ros moveit中订阅点云话题将多个点云转环境scene的Python函数
时间: 2024-03-06 17:47:06 浏览: 21
以下是一个将多个点云转换为MoveIt规划场景的Python函数示例:
```python
import rospy
import moveit_msgs.msg as moveit_msgs
from sensor_msgs.msg import PointCloud2
from shape_msgs.msg import SolidPrimitive
from geometry_msgs.msg import Pose, Point
def pointcloud_to_scene(pointcloud_topic, scene_topic):
rospy.init_node('pointcloud_to_scene')
scene_publisher = rospy.Publisher(scene_topic, moveit_msgs.PlanningScene, queue_size=1)
pointcloud_subscriber = rospy.Subscriber(pointcloud_topic, PointCloud2, pointcloud_callback)
while not rospy.is_shutdown():
rospy.spin()
def pointcloud_callback(pointcloud):
# Convert PointCloud2 to PointCloud
points = []
for point in pc2.read_points(pointcloud, field_names=("x", "y", "z"), skip_nans=True):
points.append(Point(point[0], point[1], point[2]))
# Create a SolidPrimitive representing the point cloud as a mesh
mesh = SolidPrimitive()
mesh.type = mesh.TRIANGLE_LIST
for i in range(len(points)):
mesh.points.append(points[i])
mesh.points.append(points[(i + 1) % len(points)])
mesh.points.append(Point(0, 0, 0)) # Dummy point for the mesh normals
# Create the PlanningScene message
scene = moveit_msgs.PlanningScene()
scene.is_diff = True
scene.world.collision_objects.append(moveit_msgs.CollisionObject())
scene.world.collision_objects[0].id = "pointcloud"
scene.world.collision_objects[0].operation = moveit_msgs.CollisionObject.ADD
scene.world.collision_objects[0].primitives.append(mesh)
scene.world.collision_objects[0].primitive_poses.append(Pose())
# Publish the PlanningScene message
scene_publisher.publish(scene)
```
这个函数将订阅一个PointCloud2话题,将其转换为一个带有一个CollisionObject的PlanningScene消息,并将其发布到指定的话题中。该CollisionObject中的SolidPrimitive代表了点云的网格表示。可以通过调整SolidPrimitive的type和points属性来更改网格的形状和密度。
注意,此函数假定点云中的所有点都属于同一个对象。如果点云包含多个对象,则需要对点云进行分割并为每个对象创建一个单独的CollisionObject。