ROS 学习系列 -- 程序发送点云PointCloud2到Rviz显示

方法1  直接加载PCD文件：

#include <ros/ros.h>
// PCL specific includes
#include <sensor_msgs/PointCloud2.h>
#include <pcl_conversions/pcl_conversions.h>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>

// Create a ROS publisher for the output point cloud
pub = nh.advertise<sensor_msgs::PointCloud2> ("filtered_plane", 1);  

pcl::PCLPointCloud2::Ptr cloud2(new pcl::PCLPointCloud2); 
pcl::io::loadPCDFile (argv[1], *cloud2);
// Convert to ROS data type
sensor_msgs::PointCloud2 output;
pcl_conversions::fromPCL(*cloud2, output);
output.header.frame_id = std::string("base_link");
  
// Publish the data
pub.publish (output);#include <ros/ros.h>
// PC