中企动力建设网站,百度排名优化专家,wordpress 子主题目录,莱芜都市人才网第一种#xff1a;在自己的项目中将点云通过ros的topic发布#xff0c;用octomap_server订阅点云消息#xff0c;在octomap_server中生成ocTree
再用rviz进行可视化。
创建工作空间#xff0c;记得source
mkdir temp_ocotmap_test/src
cd temp_ocotmap_test
catkin_make…第一种在自己的项目中将点云通过ros的topic发布用octomap_server订阅点云消息在octomap_server中生成ocTree
再用rviz进行可视化。
创建工作空间记得source
mkdir temp_ocotmap_test/src
cd temp_ocotmap_test
catkin_make
source devel/setup.bash
将这两个功能包下载放进自己的ros项目 再创建一个用于发布点云的功能包
cd src
catkin_create_pkg my_pkg std_msgs roscpp
形成这样的目录结构 这里使用Octomap 在ROS环境下实时显示_ros octomap-CSDN博客
的点云数据进行说明。
进入自己的功能包创建一个data文件将那位博主的点云文件test.pcd放进data文件夹
cd my_pkg
mkdir data
接下来写自己节点的cpp文件和自己功能包的CMakeLists.txt
cd my_pkg/src
vim my_pkg.cpp
my_pkg.cpp写入如下内容
#includeiostream
#includestring
#include stdlib.h
#include stdio.h
#include sstream
#include vector#includeros/ros.h
#includepcl/point_cloud.h
#includepcl_conversions/pcl_conversions.h
#includesensor_msgs/PointCloud2.h
#includepcl/io/pcd_io.h#include octomap_msgs/OctomapWithPose.h
#include octomap_msgs/Octomap.h
#include geometry_msgs/Pose.h#include octomap/octomap.h
#include octomap_msgs/Octomap.h
#include octomap_msgs/conversions.h#include geometry_msgs/TransformStamped.h#define TESTCLOUDPOINTS 1
#define TESTOCTOTREE 0int main (int argc, char **argv)
{ std::string topic,path,frame_id;int hz5;ros::init (argc, argv, publish_pointcloud); ros::NodeHandle nh; nh.paramstd::string(path, path, /home/username/Downloads/temp_for_run_octomap_server/src/publish_pointcloud/data/test.pcd);nh.paramstd::string(frame_id, frame_id, your_frame_id);nh.paramstd::string(topic, topic, your_pointcloud_topic);nh.paramint(hz, hz, 5);// load cloudpointpcl::PointCloudpcl::PointXYZ pcl_cloud; pcl::io::loadPCDFile (path, pcl_cloud); #if TESTCLOUDPOINTSros::Publisher pcl_pub nh.advertisesensor_msgs::PointCloud2 (topic, 10); // 转换成ROS下的数据类型 通过topic发布sensor_msgs::PointCloud2 output; pcl::toROSMsg(pcl_cloud, output);output.header.stampros::Time::now();output.header.frame_id frame_id;std::coutpath pathstd::endl;std::coutframe_id frame_idstd::endl;std::couttopic topicstd::endl;std::couthz hzstd::endl;ros::Rate loop_rate(hz); while (ros::ok()) { pcl_pub.publish(output); ros::spinOnce(); loop_rate.sleep(); }#endif#if TESTOCTOTREEros::Publisher octomap_pub nh.advertiseoctomap_msgs::Octomap(topic, 1);octomap::OcTree tree(0.1); // You can adjust the resolution as neededfor (const auto point : pcl_cloud.points) {tree.updateNode(point.x, point.y, point.z, true);}// Publish the octree as an OctoMap messageoctomap_msgs::Octomap octomap_msg;octomap_msgs::fullMapToMsg(tree, octomap_msg);// Assuming you have a publisher for the octomapoctomap_msg.header.stampros::Time::now();octomap_msg.header.frame_id frame_id;std::coutpath pathstd::endl;std::coutframe_id frame_idstd::endl;std::couttopic topicstd::endl;std::couthz hzstd::endl;ros::Rate loop_rate(hz); while (ros::ok()) { octomap_pub.publish(octomap_msg); ros::spinOnce(); loop_rate.sleep(); }#endifreturn 0;
}
CMakeLists.txt这样写
cmake_minimum_required(VERSION 3.0.2)
project(my_pkg)## Compile as C11, supported in ROS Kinetic and newer
# add_compile_options(-stdc11)## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTSroscppstd_msgssensor_msgsoctomap_msgsgeometry_msgs
)
find_package(PCL REQUIRED)
find_package(octomap REQUIRED)## System dependencies are found with CMakes conventions
# find_package(Boost REQUIRED COMPONENTS system)## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
# catkin_python_setup()################################################
## Declare ROS messages, services and actions ##
################################################## To declare and build messages, services or actions from within this
## package, follow these steps:
## * Let MSG_DEP_SET be the set of packages whose message types you use in
## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
## * In the file package.xml:
## * add a build_depend tag for message_generation
## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
## * If MSG_DEP_SET isnt empty the following dependency has been pulled in
## but can be declared for certainty nonetheless:
## * add a exec_depend tag for message_runtime
## * In this file (CMakeLists.txt):
## * add message_generation and every package in MSG_DEP_SET to
## find_package(catkin REQUIRED COMPONENTS ...)
## * add message_runtime and every package in MSG_DEP_SET to
## catkin_package(CATKIN_DEPENDS ...)
## * uncomment the add_*_files sections below as needed
## and list every .msg/.srv/.action file to be processed
## * uncomment the generate_messages entry below
## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)## Generate messages in the msg folder
# add_message_files(
# FILES
# Message1.msg
# Message2.msg
# )## Generate services in the srv folder
# add_service_files(
# FILES
# Service1.srv
# Service2.srv
# )## Generate actions in the action folder
# add_action_files(
# FILES
# Action1.action
# Action2.action
# )## Generate added messages and services with any dependencies listed here
# generate_messages(
# DEPENDENCIES
# std_msgs
# )################################################
## Declare ROS dynamic reconfigure parameters ##
################################################## To declare and build dynamic reconfigure parameters within this
## package, follow these steps:
## * In the file package.xml:
## * add a build_depend and a exec_depend tag for dynamic_reconfigure
## * In this file (CMakeLists.txt):
## * add dynamic_reconfigure to
## find_package(catkin REQUIRED COMPONENTS ...)
## * uncomment the generate_dynamic_reconfigure_options section below
## and list every .cfg file to be processed## Generate dynamic reconfigure parameters in the cfg folder
# generate_dynamic_reconfigure_options(
# cfg/DynReconf1.cfg
# cfg/DynReconf2.cfg
# )###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if your package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
# INCLUDE_DIRS include
# LIBRARIES my_pkg
# CATKIN_DEPENDS roscpp std_msgs
# DEPENDS system_lib
)###########
## Build ##
############# Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(
# include${catkin_INCLUDE_DIRS}${PCL_INCLUDE_DIRS}${OCTOMAP_INCLUDE_DIRS}
)## Declare a C library
# add_library(${PROJECT_NAME}
# src/${PROJECT_NAME}/my_pkg.cpp
# )## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})## Declare a C executable
## With catkin_make all packages are built within a single CMake context
## The recommended prefix ensures that target names across packages dont collide
add_executable(publish_pointcloud src/my_pkg.cpp)## Rename C executable without prefix
## The above recommended prefix causes long target names, the following renames the
## target back to the shorter version for ease of user use
## e.g. rosrun someones_pkg node instead of rosrun someones_pkg someones_pkg_node
# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX )## Add cmake target dependencies of the executable
## same as for the library above
# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})## Specify libraries to link a library or executable target against
target_link_libraries(publish_pointcloud${catkin_LIBRARIES}${PCL_LIBRARIES}${OCTOMAP_LIBRARIES}
)#############
## Install ##
############## all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
# catkin_install_python(PROGRAMS
# scripts/my_python_script
# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )## Mark executables for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
# install(TARGETS ${PROJECT_NAME}_node
# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )## Mark libraries for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
# install(TARGETS ${PROJECT_NAME}
# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
# )## Mark cpp header files for installation
# install(DIRECTORY include/${PROJECT_NAME}/
# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
# FILES_MATCHING PATTERN *.h
# PATTERN .svn EXCLUDE
# )## Mark other files for installation (e.g. launch and bag files, etc.)
# install(FILES
# # myfile1
# # myfile2
# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )#############
## Testing ##
############### Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_my_pkg.cpp)
# if(TARGET ${PROJECT_NAME}-test)
# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()## Add folders to be run by python nosetests
# catkin_add_nosetests(test)my_pkg.cpp中先使用 宏TESTCLOUDPOINTS发布点云数据
#define TESTCLOUDPOINTS 1
#define TESTOCTOTREE 0
定义好frame_id 和topic
nh.paramstd::string(path, path, /home/.../test.pcd);
nh.paramstd::string(frame_id, frame_id, your_frame_id);
nh.paramstd::string(topic, topic, your_pointcloud_topic);
nh.paramint(hz, hz, 5);
回到工作空间编译
cd temp_ocotmap_test
caikin_make
在工作空间中运行节点
rosrun my_pkg publish_pointcloud
打开一个terminal进入工作空间新打开terminal要source一下
source devel/setup.bash
接下来要运行octomap_server通过octomap_server中的launch文件运行launch文件在octomap_server/launch运行之前要修改其中的frame_id 和topic为你自己定义的frame_id和topic
launchnode pkgoctomap_server typeoctomap_server_node nameoctomap_server!-- resolution in meters per pixel --param nameresolution value0.05 /!-- name of the fixed frame, needs to be /map for SLAM --param nameframe_id typestring valueyour_frame_id /!-- max range / depth resolution of the kinect in meter --param namesensor_model/max_range value100.0 /param namelatch valuetrue /!-- max/min height for occupancy map, should be in meters --param namepointcloud_max_z value1000 /param namepointcloud_min_z value0 /!-- topic from where pointcloud2 messages are subscribed --remap from/cloud_in toyour_pointcloud_topic //node
/launch
在工作空间中运行octomap_server
roslaunch octomap_server octomap_mapping.launch
这时会出现 不用担心其实octree已经生成不知道为什么会显示这个因为这个问题困扰了好久
再打开一个terminal运行rviz记得提前要安装rviz的octomap 插件
rosrun rviz rviz
修改Fixed FrameAdd一个OccupancyGrid订阅/ocotmap_full这个topic就可以看到生成的octree了 第二种不使用octomap_server在自己项目中引用octomap包生成octree直接发布octree的topicrviz订阅topic进行可视化
将上面my_pkg.cpp中的宏改为
#define TESTCLOUDPOINTS 0
#define TESTOCTOTREE 1
这样就运行了直接生成octree并发布的那段代码回到工作空间编译运行节点
cd temp_ocotmap_test
catkin_make
rosrun my_pkg publish_pointcloud
在rviz中修改topic和frame_id便可以看到octree 以上
