Setting rviz topic (publish <pcl::PointCloud<pcl::PointXYZ> >)

asked 2017-06-29 18:33:13 -0600

Arnold gravatar image

updated 2017-06-29 18:34:12 -0600

I'm trying to view a .pcd file with rviz.

I wrote a little script to read the file and than publish it. (Yes I included way to many headers)

#include <stdlib.h>
#include <stdio.h>
#include <iostream>
#include <pcl/io/io.h>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
#include <pcl_conversions/pcl_conversions.h>
#include <ros/publisher.h>
#include <ros/ros.h>
#include <pcl_ros/publisher.h>
#include <pcl_ros/point_cloud.h>
#include <string>

pcl::PointCloud<pcl::PointXYZ>::Ptr loadPCDfile() //Laden eines PCD Files
{
    //Nach dem Dateipfad fragen
    std::string pcdpath;
    std::cout << "Bitte Pfad+Name.pcd eingeben: ";
    //Einagbe lesen
    std::getline(std::cin, pcdpath);
    //Ausgabe der Eingabe
    //std::cout<< pcdpath << std::endl;

    // Erkennen ob es sich um eine gültige Eingabe handelt (http://pointclouds.org/documentation/tutorials/reading_pcd.php)
    pcl::PointCloud<pcl::PointXYZ>::Ptr pcdcloud(
            new pcl::PointCloud<pcl::PointXYZ>);

    if (pcl::io::loadPCDFile<pcl::PointXYZ>(pcdpath, *pcdcloud) == -1) //* load the file
            {
        std::cout << "Keine pcd Datei gefunden unter: " << pcdpath << std::endl;
    }
    return pcdcloud;
}

int main(int argc, char **argv) {

    pcl::PointCloud<pcl::PointXYZ>::Ptr pcdcloud = loadPCDfile(); //Laden unserer PCD Datei

    /*for (size_t i = 0; i < pcdcloud->points.size (); ++i)
     std::cout << "    " << pcdcloud->points[i].x
     << " "    << pcdcloud->points[i].y
     << " "    << pcdcloud->points[i].z << std::endl;
     */
    // Initialize ROS
    ros::init(argc, argv, "pcdcloud");
    ros::NodeHandle nh;
    // Create a ROS publisher for the output pointcloud
    ros::Publisher pubrviz = nh.advertise<pcl::PointCloud<pcl::PointXYZ> >("pcdcloud", 1);
    pubrviz.publish(pcdcloud);
    ros::Rate loop_rate(10);
    loop_rate.sleep();
    // Spin
    ros::spin();
    return (0);
}

The reading Part should be fine, since I get a lot of points returned when I don't comment the for loop out. When I build it I get no error returned.

But I can't get the rviz gui to show the cloud. I used rosrun tf static_transform_publisher 0 0 0 0 0 0 1 map my_frame 10 to set up the tf map. link

Probably I'm doing something wrong withing with the topic.

image description

edit retag flag offensive close merge delete

Comments

This is not a real solution, but you might be interested in pcd_to_pointcloud.

gvdhoorn gravatar imagegvdhoorn ( 2017-06-30 01:45:41 -0600 )edit

I saw this, too. But I need to use some segmentation later on in the project, so its no solution. But I can try to use it for the troubleshooting. Thank you.

Arnold gravatar imageArnold ( 2017-06-30 02:39:54 -0600 )edit