ros noetic moveit 将点云话题通过open3d进行三角化后转换为环境scene的Python函数

可以使用以下Python代码将点云话题通过Open3D进行三角化后转换为MoveIt规划场景：

import rospy
import open3d as o3d
from sensor_msgs.msg import PointCloud2
from moveit_msgs.msg import CollisionObject, PlanningScene
from shape_msgs.msg import Mesh, MeshTriangle
from geometry_msgs.msg import Pose, Point
import ros_numpy

def pointcloud_to_scene(pointcloud_topic):
    # Subscribe to point cloud topic and convert to Open3D point cloud
    # Assuming the point cloud topic is of type sensor_msgs/PointCloud2
    pc = rospy.wait_for_message(pointcloud_topic, PointCloud2)
    pc_np = ros_numpy.point_cloud2.pointcloud2_to_array(pc)
    pcd = o3d.geometry.PointCloud()
    pcd.points = o3d.utility.Vector3dVector(pc_np['x', 'y', 'z'])

    # Triangulate the point cloud to form a mesh
    mesh, _ = o3d.geometry.TriangleMesh.create_from_point_cloud_poisson(pcd)

    # Convert the mesh to a MoveIt CollisionObject
    collision_object = CollisionObject()
    collision_object.header.frame_id = "world"
    collision_object.id = "mesh"
    mesh_msg = o3d_to_mesh_msg(mesh)
    collision_object.meshes.append(mesh_msg)
    collision_object.mesh_poses.append(Pose())
    collision_object.meshes[0].triangles = [MeshTriangle(i, i+1, i+2) for i in range(0, len(mesh.triangles), 3)]
    collision_object.operation = CollisionObject.ADD

    # Convert the CollisionObject to a MoveIt PlanningScene
    planning_scene = PlanningScene()
    planning_scene.world.collision_objects.append(collision_object)
    planning_scene.is_diff = True

    return planning_scene

def o3d_to_mesh_msg(mesh):
    # Convert Open3D mesh to MoveIt Mesh
    mesh_msg = Mesh()
    mesh_msg.vertices = [Point(x, y, z) for x, y, z in mesh.vertices]
    mesh_msg.triangles = [MeshTriangle(a, b, c) for a, b, c in mesh.triangles]
    return mesh_msg

这个函数将订阅给定的点云话题，将其转换为Open3D点云，并使用Poisson重建算法进行三角化。然后，将三角化后的网格转换为MoveIt碰撞对象，并将其添加到MoveIt规划场景中。请注意，此函数需要使用以下依赖项：

- `rospy`：用于ROS通信
- `ros_numpy`：用于将ROS消息转换为NumPy数组
- `sensor_msgs.msg.PointCloud2`：用于点云消息
- `moveit_msgs.msg`：用于MoveIt规划场景和碰撞对象
- `shape_msgs.msg`：用于网格的顶点和三角形
- `geometry_msgs.msg`：用于网格的姿态和点的位置