How to publish a pointcloud of ros msgs in a topic from a pcd file?

How to publish a pointcloud of ros msgs in a topic from a pcd file?

Two methods

1. modified source

2. pcd_to_pointcloud

• run ros node pcl_ros in a terminal
  
  usage:

$ rosrun pcl_ros pcd_to_pointcloud <file.pcd> [ <interval> ]

Loads a PCD file, publishing it one or more times as a ROS point cloud message.

Published Topics

• cloud_pcd (sensor_msgs/PointCloud2)
  
  // A stream of point clouds generated from the PCD file.

// <interval> is the (optional) number of seconds to sleep between messages.
// If <interval> is zero or not specified the message is published once.

• in my condition, I use

// can add _frame_id:=/camera_link
$ rosrun pcl_ros pcd_to_pointcloud /home/william/Documents/demos/cylinders/preprocessing/data/realSense02.pcd 10 _frame_id:=/map

• run rviz:
  
  $ rosrun rviz rviz

If the frame id you add is not camera_link, then should be edit.

click 'Add', click 'By topic', choose 'Pointcloud2' below topic '/cloud_pcd'. Then the pointcloud can be visualized.

References:

1. pcl_ros