https://github.com/yym68686/ros-slam
利用 gazebo 仿真 kinect 深度相机实现 PointCloud2 点云数据转换为 pcd 文件
https://github.com/yym68686/ros-slam
gazebo pcd pointcloud ros rviz
Last synced: about 23 hours ago
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利用 gazebo 仿真 kinect 深度相机实现 PointCloud2 点云数据转换为 pcd 文件
- Host: GitHub
- URL: https://github.com/yym68686/ros-slam
- Owner: yym68686
- Created: 2022-10-22T10:46:11.000Z (almost 3 years ago)
- Default Branch: master
- Last Pushed: 2022-10-24T15:43:53.000Z (almost 3 years ago)
- Last Synced: 2024-06-12T19:08:17.190Z (over 1 year ago)
- Topics: gazebo, pcd, pointcloud, ros, rviz
- Language: CMake
- Homepage:
- Size: 1.15 MB
- Stars: 0
- Watchers: 1
- Forks: 0
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
Awesome Lists containing this project
README
## 简介
使用 urdf 文件构建仿真机器人，在 gazebo 搭建仿真环境，导入人造卫星的 stl 文件，利用仿真 kinect 深度相机获取人造卫星的点云数据并在 RVIZ 中可视化，将 PointCloud2 数据类型转化为 pcd 文件。
## 使用指南
进入目录
```bash
mkdir catkin_ws
cd catkin_ws
mkdir src
cd src
```
下载软件包
```bash
git clone https://github.com/yym68686/ros-slam.git
```
回到根目录编译
```
cd ~/catkin_ws
catkin_make
```
让 ROS 找到软件包
```bash
source ~/catkin_ws/devel/setup.bash
```
启动 ROS 内核
```
roscore
```
结合 URDF 打开 gazebo 仿真环境
```bash
roslaunch ros-slam env.launch
```
打开机器人深度相机 kinect 等传感器并在 rviz 可视化
```bash
roslaunch ros-slam sensor.launch
```
打开机器人运动控制
```bash
rosrun teleop_twist_keyboard teleop_twist_keyboard.py
```
按照提示使用键盘控制小车方向。运动控制需要下载依赖
```bash
sudo apt-get install -y ros-noetic-teleop-twist-keyboard
```
订阅 kinect 点云话题转化为点云 pcd 文件
```
rosrun ros-slam pcd_write
```
上条命令在哪个目录执行，就在哪个目录生成 pcd 文件，查看 pcd 点云文件
```
pcl_viewer file.pcd
```
## 软件包搭建过程
### 测试环境
从头开始，不管前面的项目，创建文件夹
```bash
mkdir catkin_ws
cd catkin_ws
mkdir src
cd src
```
创建软件包
```
catkin_create_pkg ros-slam rospy roscpp std_msgs urdf xacro gazebo_ros gazebo_ros_control gazebo_plugins
```
进入 ros-slam/src 文件夹创建文件 hello.cpp
```
cd ros-slam/src
touch hello.cpp
```
写入
```cpp
#include
int main(int argc, char const *argv[])
{
printf("Hello World!\n");
return 0;
}
```
在 CMakeLists.txt 添加
```bash
echo "add_executable(hello src/hello.cpp)" >> CMakeLists.txt
```
编译
```
cd ~/catkin_ws
catkin_make
```
让 ROS 找到软件包
```bash
source ~/catkin_ws/devel/setup.bash
```
运行节点
```bash
rosrun ros-slam hello
```
运行成功。
### 运行仿真环境
```bash
sudo apt-get install -y ros-noetic-teleop-twist-keyboard
cd ~
git clone -b kinect https://github.com/yym68686/ROS-Lab.git
cd ~/catkin_ws/src
roslaunch ros-slam env.launch
roslaunch ros-slam sensor.launch
rosrun teleop_twist_keyboard teleop_twist_keyboard.py
rostopic pub -r 10 /cmd_vel geometry_msgs/Twist "linear:
x: 1.0
y: 0.0
z: 0.0
angular:
x: 0.0
y: 0.0
z: 1.0"
```
CMakeLists.txt 增加
```cmake
find_package(PCL 1.2 REQUIRED)
include_directories(${PCL_INCLUDE_DIRS})
link_directories(${PCL_LIBRARY_DIRS})
add_definitions(${PCL_DEFINITIONS})
# add_executable (pcd_write src/test_pcl.cpp)
add_executable (pcd_write src/pcl_write.cpp)
target_link_libraries(pcd_write
${catkin_LIBRARIES}
)
target_link_libraries (pcd_write ${PCL_LIBRARIES})
```
编译
```bash
catkin_make
```
查看当前是否有 camera/depth/ros-slams 话题
```bash
rostopic list
```
运行软件包
```bash
```
点云数据格式：http://docs.ros.org/en/api/sensor_msgs/html/msg/ros-slamCloud2.html
##