ros moveit中将多个点云转环境scene的Python函数
时间: 2024-01-06 20:03:02 浏览: 100
ros_fuse_point_cloud:[ROS] 提供节点订阅多个点云并将它们融合为一个
在ROS MoveIt中,可以使用Python API将多个点云转换为MoveIt的环境场景。以下是一个示例代码,可以实现这一功能:
```
import rospy
from moveit_msgs.msg import CollisionObject
from shape_msgs.msg import SolidPrimitive
from geometry_msgs.msg import Pose
def add_pointcloud_to_scene(pointcloud):
rospy.wait_for_service('/planning_scene_interface/add_collision_object')
add_collision_object = rospy.ServiceProxy('/planning_scene_interface/add_collision_object', MoveItSceneObject)
# create collision object
collision_object = CollisionObject()
collision_object.header.frame_id = "base_link"
collision_object.operation = CollisionObject.ADD
collision_object.id = "pointcloud"
# create solid primitive
solid_primitive = SolidPrimitive()
solid_primitive.type = SolidPrimitive.POINTS
solid_primitive.points = pointcloud.points
# create pose
pose = Pose()
pose.orientation.w = 1.0
# add solid primitive and pose to collision object
collision_object.primitives.append(solid_primitive)
collision_object.primitive_poses.append(pose)
# add collision object to scene
add_collision_object(collision_object)
```
其中,`pointcloud`是一个包含多个点的点云。这个函数将点云转换为MoveIt的环境场景,然后添加到场景中。注意,这个函数需要在ROS系统中运行。
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