ROS中使用rviz读取pcd点云文件

创建功能包

打开之前创建好的工作空间的src目录下，创建功能包package，命名为pcd_to_rviz。

cd catkin_ws/src;
catkin_create_pkg pcd_to_rviz pcd_conversions pcl_ros roscpp sensor_msgs;

此时就会在catkin_ws/src下生成功能包文件夹pcd_to_rviz，在里面的src目录下新建一个pcd_to_rviz.cpp，将下面代码复制进去。
此外功能包文件夹下还包含cmakelists.txt和package.xml文件。

//pcd_to_rviz.cpp
#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/***/catkin_ws/src/pcd_to_rviz/src/test.pcd", cloud);//更换为自己的pcd文件路径
  //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，这里时fix frame的名字
  ros::Rate loop_rate(1);
  while (ros::ok())
  {
    pcl_pub.publish(output);
    ros::spinOnce();
    loop_rate.sleep();
  }
  return 0;
}

修改cmakelists.txt和package.xml

在pcd_to_rviz功能包里修改cmakelists.txt
在其中的代码后添加以下两行：

add_executable(pcd_to_rviz src/pcd_to_rviz.cpp)
target_link_libraries(pcd_to_rviz ${catkin_LIBRARIES})

在pcd_to_rviz功能包里修改package.xml
在其中的代码后添加以下两行：

<build_depend>libpcl-all-dev</build_depend>
<exec_depend>libpcl-all</exec_depend>

编译功能包

编译指定功能包

catkin_make -DCATKIN_WHITELIST_PACKAGES="pcd_to_rviz"//只编译该功能包

catkin_make -DCATKIN_WHITELIST_PACKAGES=""//单独编译一个包之后，想要再编译所有的包，需使用该命令

全编译

catkin_make //编译整个工作空间

编译成功的界面如下：

再source一下环境变量

source devel/setup.bash

Rviz查看pcd

运行ROS，新建一个终端：

roscoe

在终端中切换到可执行文件pcd_to_rviz所在目录，执行：

./pcd_to_rviz

此时打开 rviz， add 点云对应的topic——/pcl_output1

rosrun rviz rviz

rviz打开后，手动加载PointCloud2
Global Options中的Fixed Frame改为odom1
PointCloud2中的Topic改为pcl_output1
即可看到pcd文件中的点云

报错信息error

1. pcl_conversions文件缺失

CMake Warning at /opt/ros/kinetic/share/catkin/cmake/catkinConfig.cmake:76 (find_package):
  Could not find a package configuration file provided by "pcd_conversions"
  with any of the following names:

    pcd_conversionsConfig.cmake
    pcd_conversions-config.cmake

  Add the installation prefix of "pcd_conversions" to CMAKE_PREFIX_PATH or
  set "pcd_conversions_DIR" to a directory containing one of the above files.
  If "pcd_conversions" provides a separate development package or SDK, be
  sure it has been installed.
Call Stack (most recent call first):
  pcd_to_rviz/CMakeLists.txt:10 (find_package)


-- Could not find the required component 'pcd_conversions'. The following CMake error indicates that you either need to install the package with the same name or change your environment so that it can be found.

主要原因是在PCL1.8中缺少pcl_ros 库和pcl_conversions库，此处用到需要自己下载并进行安装，新建一个终端，执行：

sudo apt-get install ros-kinetic-pcl-conversions

2. libvtkproj4-6.2.so.6.2.0报错

make[2]: *** No rule to make target '/usr/lib/x86_64-linux-gnu/libvtkproj4-6.2.so.6.2.0', needed by 'pcd_to_rviz/pcd_to_rviz'。 停止。
make[2]: *** 正在等待未完成的任务....
[ 83%] Building CXX object pcd_to_rviz/CMakeFiles/pcd_to_rviz.dir/src/pcd_to_rviz.cpp.o
CMakeFiles/Makefile2:490: recipe for target 'pcd_to_rviz/CMakeFiles/pcd_to_rviz.dir/all' failed
make[1]: *** [pcd_to_rviz/CMakeFiles/pcd_to_rviz.dir/all] Error 2
Makefile:138: recipe for target 'all' failed
make: *** [all] Error 2
Invoking "make -j4 -l4" failed

应该是libvtkproj4-6.2.so.6.2.0没找到目标链接库，重新建立链接即可，新建一个终端，执行：

sudo ln -s /usr/lib/x86_64-linux-gnu/libvtkCommonCore-6.2.so /usr/lib/x86_64-linux-gnu/libvtkproj4-6.2.so.6.2.0