00001 #include <ros/ros.h> 00002 #include <sensor_msgs/PointCloud.h> 00003 #include <pcl/ros/conversions.h> 00004 #include "pcl/io/pcd_io.h" 00005 #include "pcl/point_types.h" 00006 #include <sensor_msgs/point_cloud_conversion.h> 00007 00008 int main(int argc, char** argv) 00009 { 00010 if (argc < 2) 00011 { 00012 ROS_INFO("Usage <%s> <sleep rate[s]>", argv[0]); 00013 exit(0); 00014 } 00015 ros::init(argc, argv, "pointcloud_publisher"); 00016 ros::NodeHandle n; 00017 pcl::PointCloud<pcl::PointXYZ> cloud; 00018 00019 // Fill in the cloud data 00020 cloud.width = 300; 00021 cloud.height = 1; 00022 cloud.is_dense = false; 00023 cloud.points.resize (cloud.width * cloud.height); 00024 00025 for (size_t i = 0; i < cloud.points.size (); ++i) 00026 { 00027 cloud.points[i].x = 1024 * rand () / (RAND_MAX + 1.0); 00028 cloud.points[i].y = 1024 * rand () / (RAND_MAX + 1.0); 00029 cloud.points[i].z = 1024 * rand () / (RAND_MAX + 1.0); 00030 } 00031 00032 sensor_msgs::PointCloud2 mycloud2; 00033 //sensor_msgs::PointCloud mycloud1; 00034 pcl::toROSMsg(cloud, mycloud2); 00035 //sensor_msgs::convertPointCloud2ToPointCloud(mycloud2, mycloud1); 00036 00037 ros::Publisher pointcloud_pub = n.advertise<sensor_msgs::PointCloud2>("point_cloud", 1); 00038 ros::Rate loop_rate(atof(argv[1])); 00039 while (ros::ok()) 00040 { 00041 mycloud2.header.frame_id = "/map"; 00042 mycloud2.header.stamp = ros::Time::now(); 00043 pointcloud_pub.publish(mycloud2); 00044 ROS_INFO("PointCloud published"); 00045 ros::spinOnce(); 00046 loop_rate.sleep(); 00047 } 00048 } 00049
