pcd_to_pointcloud.cpp

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 * $Id: pcd_to_pointcloud.cpp 33238 2010-03-11 00:46:58Z rusu $
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/**

\author Radu Bogdan Rusu

@b pcd_to_pointcloud is a simple node that loads PCD (Point Cloud Data) files from disk and publishes them as ROS messages on the network.

 **/

#include <pcl/common/io.h>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
#include <pcl_conversions/pcl_conversions.h>

#include <chrono>
#include <string>
#include <thread>

#include <rclcpp/rclcpp.hpp>
#include <rclcpp/qos_overriding_options.hpp>
#include "rclcpp_components/register_node_macro.hpp"
#include <sensor_msgs/msg/point_cloud2.hpp>

namespace pcl_ros
{
class PCDPublisher : public rclcpp::Node
{
protected:
  std::string tf_frame_;

public:
  // ROS messages
  sensor_msgs::msg::PointCloud2 cloud_;

  std::string file_name_, cloud_topic_;
  size_t period_ms_;

  std::shared_ptr<rclcpp::Publisher<sensor_msgs::msg::PointCloud2>> pub_;
  rclcpp::TimerBase::SharedPtr timer_;

  ////////////////////////////////////////////////////////////////////////////////
  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";
    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");

    if (file_name_ == "" || pcl::io::loadPCDFile(file_name_, cloud_) == -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_;
    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_);

    // Enable QoS reconfigurability via parameters
    auto pub_options = rclcpp::PublisherOptions();
    pub_options.qos_overriding_options =
      rclcpp::QosOverridingOptions {{
      rclcpp::QosPolicyKind::History,
      rclcpp::QosPolicyKind::Reliability,
      rclcpp::QosPolicyKind::Durability,
      rclcpp::QosPolicyKind::Depth
    }};
    pub_ = this->create_publisher<sensor_msgs::msg::PointCloud2>(cloud_topic_, 10, pub_options);
    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());
  }

  ////////////////////////////////////////////////////////////////////////////////
  // Publish callback that is periodically called by a timer.
  void publish()
  {
    cloud_.header.stamp = this->get_clock()->now();
    pub_->publish(cloud_);
  }
};
}  // namespace pcl_ros

RCLCPP_COMPONENTS_REGISTER_NODE(pcl_ros::PCDPublisher)