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Migrate pcd to pointcloud tool (#359)

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* Migrate pcl_ros pcd_to_pointcloud tool

Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>

* Remove log used for debugging

Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>

* Undo unnecessary changes

Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>

* Remove commented out code

Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>

* Address peer review comments

Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>

* rename node

Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
This commit is contained in:
Ivan Santiago Paunovic
2022-04-04 16:54:29 -03:00
committed by GitHub
parent 2b82545af3
commit 27448f7575
3 changed files with 67 additions and 95 deletions
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pcl_ros/tools/pcd_to_pointcloud.cpp
+50 -91
View File
@@ -43,126 +43,85 @@
**/
// ROS core
#include <ros/ros.h>
#include <pcl/io/io.h>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
#include <pcl_conversions/pcl_conversions.h>
// STL
#include <chrono>
#include <string>
#include <thread>
#include "pcl_ros/publisher.hpp"
// PCL
#include <pcl/io/io.h>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
class PCDGenerator
// ROS core
#include <rclcpp/rclcpp.hpp>
#include "rclcpp_components/register_node_macro.hpp"
#include <sensor_msgs/msg/point_cloud2.hpp>
#include <pcl_conversions/pcl_conversions.h>
namespace pcl_ros
{
class PCDPublisher : public rclcpp::Node
{
protected:
std::string tf_frame_;
ros::NodeHandle nh_;
ros::NodeHandle private_nh_;
public:
// ROS messages
sensor_msgs::PointCloud2 cloud_;
sensor_msgs::msg::PointCloud2 cloud_;
std::string file_name_, cloud_topic_;
double wait_;
size_t period_ms_;
pcl_ros::Publisher<sensor_msgs::PointCloud2> pub_;
std::shared_ptr<rclcpp::Publisher<sensor_msgs::msg::PointCloud2>> pub_;
rclcpp::TimerBase::SharedPtr timer_;
////////////////////////////////////////////////////////////////////////////////
PCDGenerator()
: tf_frame_("/base_link"), private_nh_("~")
explicit PCDPublisher(const rclcpp::NodeOptions & options)
: rclcpp::Node("pcd_publisher", options), tf_frame_("/base_link")
{
// Maximum number of outgoing messages to be queued for delivery to subscribers = 1
cloud_topic_ = "cloud_pcd";
pub_.advertise(nh_, cloud_topic_.c_str(), 1);
private_nh_.param("frame_id", tf_frame_, std::string("/base_link"));
ROS_INFO(
"Publishing data on topic %s with frame_id %s.", nh_.resolveName(
cloud_topic_).c_str(), tf_frame_.c_str());
}
tf_frame_ = this->declare_parameter("tf_frame", tf_frame_);
period_ms_ = this->declare_parameter("publishing_period_ms", 3000);
file_name_ = this->declare_parameter<std::string>("file_name");
////////////////////////////////////////////////////////////////////////////////
// Start
int
start()
{
if (file_name_ == "" || pcl::io::loadPCDFile(file_name_, cloud_) == -1) {
return -1;
RCLCPP_ERROR(this->get_logger(), "failed to open PCD file");
throw std::runtime_error{"could not open pcd file"};
}
cloud_.header.frame_id = tf_frame_;
return 0;
int nr_points = cloud_.width * cloud_.height;
auto fields_list = pcl::getFieldsList(cloud_);
auto resolved_cloud_topic =
this->get_node_topics_interface()->resolve_topic_name(cloud_topic_);
pub_ = this->create_publisher<sensor_msgs::msg::PointCloud2>(cloud_topic_, 10);
timer_ = this->create_wall_timer(
std::chrono::milliseconds(period_ms_),
[this]() {
this->publish();
});
RCLCPP_INFO(
this->get_logger(),
"Publishing data with %d points (%s) on topic %s in frame %s.",
nr_points,
fields_list.c_str(),
resolved_cloud_topic.c_str(),
cloud_.header.frame_id.c_str());
}
////////////////////////////////////////////////////////////////////////////////
// Spin (!)
bool spin()
// Publish callback that is periodically called by a timer.
void publish()
{
int nr_points = cloud_.width * cloud_.height;
std::string fields_list = pcl::getFieldsList(cloud_);
double interval = wait_ * 1e+6;
while (nh_.ok()) {
ROS_DEBUG_ONCE(
"Publishing data with %d points (%s) on topic %s in frame %s.", nr_points,
fields_list.c_str(), nh_.resolveName(cloud_topic_).c_str(), cloud_.header.frame_id.c_str());
cloud_.header.stamp = ros::Time::now();
if (pub_.getNumSubscribers() > 0) {
ROS_DEBUG("Publishing data to %d subscribers.", pub_.getNumSubscribers());
pub_.publish(cloud_);
} else {
// check once a second if there is any subscriber
ros::Duration(1).sleep();
continue;
}
std::this_thread::sleep_for(std::chrono::microseconds(static_cast<uint32_t>(interval)));
if (interval == 0) { // We only publish once if a 0 seconds interval is given
// Give subscribers 3 seconds until point cloud decays... a little ugly!
ros::Duration(3.0).sleep();
break;
}
}
return true;
cloud_.header.stamp = this->get_clock()->now();
pub_->publish(cloud_);
}
};
} // namespace pcl_ros
/* ---[ */
int
main(int argc, char ** argv)
{
if (argc < 2) {
std::cerr << "Syntax is: " << argv[0] << " <file.pcd> [publishing_interval (in seconds)]" <<
std::endl;
return -1;
}
ros::init(argc, argv, "pcd_to_pointcloud");
PCDGenerator c;
c.file_name_ = std::string(argv[1]);
// check if publishing interval is given
if (argc == 2) {
c.wait_ = 0;
} else {
c.wait_ = atof(argv[2]);
}
if (c.start() == -1) {
ROS_ERROR("Could not load file %s. Exiting.", argv[1]);
return -1;
}
ROS_INFO(
"Loaded a point cloud with %d points (total size is %zu) and the following channels: %s.",
c.cloud_.width * c.cloud_.height, c.cloud_.data.size(), pcl::getFieldsList(c.cloud_).c_str());
c.spin();
return 0;
}
/* ]--- */
RCLCPP_COMPONENTS_REGISTER_NODE(pcl_ros::PCDPublisher)