ros publish pcl::ModelCoefficients

asked 2013-10-22 12:29:52 -0500

HiroCollins
33 ●2 ●2 ●8

updated 2013-11-18 18:58:56 -0500

58457 ●128 ●550 ●526 http://www.ros.org/

I am following "How to use a pcl tutorial on ROS" under /pcl/Tutorials. I managed to build and run section 4.1 with no problems but when I build 4.2 I get the following error:

[ 50%] [100%] Built target example2 Building CXX object my_pcl_tutorial/CMakeFiles/example.dir/src/example.cpp.o In file included from /opt/ros/hydro/include/ros/serialization.h:37:0, from /opt/ros/hydro/include/ros/publisher.h:34, from /opt/ros/hydro/include/ros/node_handle.h:32, from /opt/ros/hydro/include/ros/ros.h:45, from /home/ndivhuwo/Documents/cloud/src/my_pcl_tutorial/src/example.cpp:1: /opt/ros/hydro/include/ros/message_traits.h: In static member function ‘static const char* ros::message_traits::MD5Sum<m>::value(const M&) [with M = pcl::ModelCoefficients]’: /opt/ros/hydro/include/ros/message_traits.h:255:104: instantiated from ‘const char* ros::message_traits::md5sum(const M&) [with M = pcl::ModelCoefficients]’ /opt/ros/hydro/include/ros/publisher.h:112:7: instantiated from ‘void ros::Publisher::publish(const M&) const [with M = pcl::ModelCoefficients]’ /home/ndivhuwo/Documents/cloud/src/my_pcl_tutorial/src/example.cpp:49:28: instantiated from here /opt/ros/hydro/include/ros/message_traits.h:126:34: error: ‘const struct pcl::ModelCoefficients’ has no member named ‘__getMD5Sum’ /opt/ros/hydro/include/ros/message_traits.h: In static member function ‘static const char* ros::message_traits::DataType<m>::value(const M&) [with M = pcl::ModelCoefficients]’: /opt/ros/hydro/include/ros/message_traits.h:264:106: instantiated from ‘const char* ros::message_traits::datatype(const M&) [with M = pcl::ModelCoefficients]’ /opt/ros/hydro/include/ros/publisher.h:112:7: instantiated from ‘void ros::Publisher::publish(const M&) const [with M = pcl::ModelCoefficients]’ /home/ndivhuwo/Documents/cloud/src/my_pcl_tutorial/src/example.cpp:49:28: instantiated from here /opt/ros/hydro/include/ros/message_traits.h:143:36: error: ‘const struct pcl::ModelCoefficients’ has no member named ‘__getDataType’ In file included from /opt/ros/hydro/include/ros/publisher.h:34:0, from /opt/ros/hydro/include/ros/node_handle.h:32, from /opt/ros/hydro/include/ros/ros.h:45, from /home/ndivhuwo/Documents/cloud/src/my_pcl_tutorial/src/example.cpp:1: /opt/ros/hydro/include/ros/serialization.h: In static member function ‘static uint32_t ros::serialization::Serializer<t>::serializedLength(typename boost::call_traits<t>::param_type) [with T = pcl::ModelCoefficients, uint32_t = unsigned int, typename boost::call_traits<t>::param_type = const pcl::ModelCoefficients&]’: /opt/ros/hydro/include/ros/serialization.h:170:43: instantiated from ‘uint32_t ros::serialization::serializationLength(const T&) [with T = pcl::ModelCoefficients, uint32_t = unsigned int]’ /opt/ros/hydro/include/ros/serialization.h:846:45: instantiated from ‘ros::SerializedMessage ros::serialization::serializeMessage(const M&) [with M = pcl::ModelCoefficients]’ /opt/ros/hydro/include/ros/publisher.h:118:7: instantiated from ‘void ros::Publisher::publish(const M&) const [with M = pcl::ModelCoefficients]’ /home/ndivhuwo/Documents/cloud/src/my_pcl_tutorial/src/example.cpp:49:28: instantiated from here /opt/ros/hydro/include/ros/serialization.h:142:34: error: ‘const struct pcl::ModelCoefficients’ has no member named ‘serializationLength’ /opt/ros/hydro/include/ros/serialization.h: In static member function ... (more)

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answered 2013-11-18 03:58:06 -0500

sergifoix
36 ●2

Hi, PCL is not integrated in ROS anymore. But there is package that allows you to perform conversions between ros and pcl messages. In order to publish pcl::ModelCoefficients you must do the following:

#include < pcl_conversions/pcl_conversions.h>

...

ros::Publisher pub;

// Create a ROS publisher for the output point cloud

pub = nh.advertise< pcl_msgs::ModelCoefficients> ("output", 1);

// ros message

pcl_msgs::ModelCoefficients ros_coefficients;

// pcl message

pcl::ModelCoefficients pcl_coefficients;

....

pcl_conversions::fromPCL(pcl_coefficients, ros_coefficients);

pub.publish(ros_coefficients);

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1

Thanks for answering this question but not bothering to update the wiki, to ensure that people continue to have the most horrible experience trying to learn ROS.

Neil Traft ( 2014-07-23 23:56:49 -0500 )edit

Another tutorial follower here. Now that I've made the changes, how do I get rviz to display the result?

dinosaur ( 2015-06-04 18:35:01 -0500 )edit

Try this example. If you only want to see the planes/non-planes there is a way to copy just those points into a new point cloud but I forget how. Some other PCL tutorial might show it.

Neil Traft ( 2015-06-04 19:16:16 -0500 )edit

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answered 2013-10-22 21:07:26 -0500

Tirjen

808 ●9 ●18 ●28

If I understand well, you are trying to publish a pcl::ModelCoefficients which is not a ros message. What you can do is create a ros msg that has a structure similar to ModelCoefficients and then publish that message.

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Ok cool, that's what I thought. It's strange that the pcl ros tutorial I was following has this line in the code snippet. They should update it with the correct set of lines. Thanks for your response.

HiroCollins ( 2013-10-22 23:31:17 -0500 )edit

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