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Here is an example on how to publish a sensor_msgs/PointCloud in ros by using python:

#!/usr/bin/env python
import rospy

from sensor_msgs.msg import PointCloud
from geometry_msgs.msg import Point32
import std_msgs.msg

if __name__ == '__main__':
    '''
    Publishes example pointcloud
    '''
    rospy.init_node('point_polygon_scaler')
    pointcloud_publisher = rospy.Publisher("/my_pointcloud_topic", PointCloud)
    rospy.loginfo("pcl_publish_example")
    #giving some time for the publisher to register
    rospy.sleep(0.5)
    #declaring pointcloud
    my_awesome_pointcloud = PointCloud()
    #filling pointcloud header
    header = std_msgs.msg.Header()
    header.stamp = rospy.Time.now()
    header.frame_id = 'map'
    my_awesome_pointcloud.header = header
    #filling some points
    my_awesome_pointcloud.points.append(Point32(1.0, 1.0, 0.0))
    my_awesome_pointcloud.points.append(Point32(2.0, 2.0, 0.0))
    my_awesome_pointcloud.points.append(Point32(3.0, 3.0, 0.0))
    #publish
    print "happily publishing pointcloud"
    pointcloud_publisher.publish(my_awesome_pointcloud)
    #exit. we are done!
    print "bye bye..."

If you want to use sensor_msgs/Pointcloud2 then:

#!/usr/bin/env python
import rospy
import math
import sys

from sensor_msgs.msg import PointCloud2
import std_msgs.msg
import sensor_msgs.point_cloud2 as pcl2

if __name__ == '__main__':
    '''
    Sample code to publish a pcl2 with python
    '''
    rospy.init_node('pcl2_pub_example')
    pcl_pub = rospy.Publisher("/my_pcl_topic", PointCloud2)
    rospy.loginfo("Initializing sample pcl2 publisher node...")
    #give time to roscore to make the connections
    rospy.sleep(1.)
    cloud_points = [[1.0, 1.0, 0.0],[1.0, 2.0, 0.0]]
    #header
    header = std_msgs.msg.Header()
    header.stamp = rospy.Time.now()
    header.frame_id = 'map'
    #create pcl from points
    scaled_polygon_pcl = pcl2.create_cloud_xyz32(header, cloud_points)
    #publish    
    rospy.loginfo("happily publishing sample pointcloud.. !")
    pcl_pub.publish(scaled_polygon_pcl)

enjoy !