ROS学习笔记——PCD点云在rviz中显示

 #include<ros/ros.h>

    
 #include<pcl/point_cloud.h>
    
 #include<pcl_conversions/pcl_conversions.h>
    
 #include<sensor_msgs/PointCloud2.h>
    
 #include<pcl/io/pcd_io.h>//which contains the required definitions to load and store point clouds to PCD and other file formats.
    
  
    
 main (int argc, char **argv)
    
 {
    
   ros::init (argc, argv, "UandBdetect");
    
   ros::NodeHandle nh;
    
   ros::Publisher pcl_pub = nh.advertise<sensor_msgs::PointCloud2> ("pcl_output1", 1);
    
   pcl::PointCloud<pcl::PointXYZ> cloud;
    
   sensor_msgs::PointCloud2 output;
    
   pcl::io::loadPCDFile ("/home/uv/table_scene_lms400.pcd", cloud);
    
   //Convert the cloud to ROS message
    
   pcl::toROSMsg(cloud, output);
    
   output.header.frame_id = "odom1";//this has been done in order to be able to visualize our PointCloud2 message on the RViz visualizer
    
   ros::Rate loop_rate(1);
    
   while (ros::ok())
    
   {
    
     pcl_pub.publish(output);
    
     ros::spinOnce();
    
     loop_rate.sleep();
    
   }
    
   return 0;
    
 }