ros noetic moveit 将点云话题通过open3d进行三角化为一个整体后转换为对应原来点云位姿的环境scene的Python实现函数

下面是一个将ROS中的点云话题通过Open3D进行三角化，并将结果转换为对应原来点云位姿的环境scene的Python实现函数：

import rospy
import open3d as o3d
from sensor_msgs.msg import PointCloud2
from geometry_msgs.msg import PoseStamped
from moveit_msgs.msg import PlanningScene, CollisionObject

def pointcloud_cb(msg):
    # 转换ROS点云消息为Open3D点云
    pcd = o3d.io.read_point_cloud_from_msg(msg)

    # 进行三角化处理
    triangles = o3d.geometry.TriangleMesh.create_from_point_cloud_alpha_shape(pcd, alpha=0.01)

    # 获取原来点云的位姿
    pose = rospy.wait_for_message("/pointcloud_pose", PoseStamped)
    trans = [pose.pose.position.x, pose.pose.position.y, pose.pose.position.z]
    rot = [pose.pose.orientation.x, pose.pose.orientation.y, pose.pose.orientation.z, pose.pose.orientation.w]

    # 将三角化结果转换为CollisionObject，并设置位姿
    obj = CollisionObject()
    obj.operation = CollisionObject.ADD
    obj.header.frame_id = msg.header.frame_id
    obj.meshes.append(o3d.io.to_mesh(triangles))
    obj.mesh_poses.append(PoseStamped().pose)
    obj.mesh_poses[0].position.x = trans[0]
    obj.mesh_poses[0].position.y = trans[1]
    obj.mesh_poses[0].position.z = trans[2]
    obj.mesh_poses[0].orientation.x = rot[0]
    obj.mesh_poses[0].orientation.y = rot[1]
    obj.mesh_poses[0].orientation.z = rot[2]
    obj.mesh_poses[0].orientation.w = rot[3]

    # 发布PlanningScene消息
    scene = PlanningScene()
    scene.world.collision_objects.append(obj)
    scene.is_diff = True
    pub.publish(scene)

# 初始化ROS节点
rospy.init_node("pointcloud_to_scene")

# 创建ROS订阅器和发布器
sub = rospy.Subscriber("/pointcloud_topic", PointCloud2, pointcloud_cb)
pub = rospy.Publisher("/planning_scene", PlanningScene, queue_size=1)

rospy.spin()

其中，`/pointcloud_topic`为ROS点云话题，`/pointcloud_pose`为原来点云的位姿话题，`/planning_scene`为PlanningScene话题。

该函数中，首先将ROS点云消息转换为Open3D点云，然后进行三角化处理。接着，获取原来点云的位姿，并将三角化结果转换为CollisionObject，并设置位姿。最后，将CollisionObject发布到PlanningScene话题上，实现对环境scene的更新。