#include?
#include?
#include?
#include?

main?（int?argc?char?**argv）
{
????ros::init?（argc?argv?“pcl_create“）;

????ros::NodeHandle?nh;
????ros::Publisher?pcl_pub?=?nh.advertise?（“pcl_output“?1）;
????pcl::PointCloud?cloud;
????sensor_msgs::PointCloud2?output;

????//?Fill?in?the?cloud?data
????cloud.width??=?100;
????cloud.height?=?1;
????cloud.points.resize（cloud.width?*?cloud.height）;

????for?（size_t?i?=?0;?i?????{
????????cloud.points[i].x?=?1024?*?rand?（）?/?（RAND_MAX?+?1.0f）;
????????cloud.points[i].y?=?1024?*?rand?（）?/?（RAND_MAX?+?1.0f）;
????????cloud.points[i].z?=?1024?*?rand?（）?/?（RAND_MAX?+?1.0f）;
????}

????//Convert?the?cloud?to?ROS?message
????pcl::toROSMsg（cloud?output）;
????output.header.frame_id?=?“odom“;

????ros::Rate?loop_rate（1）;
????while?（ros::ok（））
????{
????????pcl_pub.publish（output）;
????????ros::spinOnce（）;
????????loop_rate.sleep（）;
????}

????return?0;
}

?屬性????????????大小?????日期????時(shí)間???名稱
-----------?---------??----------?-----??----
?????目錄???????????0??2017-11-23?15:29??effective_robotics_programming_with_ros-master\effective_robotics_programming_with_ros-master\
?????目錄???????????0??2017-11-23?15:29??effective_robotics_programming_with_ros-master\effective_robotics_programming_with_ros-master\chapter10_tutorials\
?????文件????????1572??2017-11-23?15:29??effective_robotics_programming_with_ros-master\effective_robotics_programming_with_ros-master\chapter10_tutorials\CMakeLists.txt
?????目錄???????????0??2017-11-23?15:29??effective_robotics_programming_with_ros-master\effective_robotics_programming_with_ros-master\chapter10_tutorials\data\
?????文件????17492958??2017-11-23?15:29??effective_robotics_programming_with_ros-master\effective_robotics_programming_with_ros-master\chapter10_tutorials\data\test_pcd.pcd
?????文件????????3608??2017-11-23?15:29??effective_robotics_programming_with_ros-master\effective_robotics_programming_with_ros-master\chapter10_tutorials\data\write_pcd_test.pcd
?????文件????????1116??2017-11-23?15:29??effective_robotics_programming_with_ros-master\effective_robotics_programming_with_ros-master\chapter10_tutorials\package.xml
?????目錄???????????0??2017-11-23?15:29??effective_robotics_programming_with_ros-master\effective_robotics_programming_with_ros-master\chapter10_tutorials\src\
?????文件????????1063??2017-11-23?15:29??effective_robotics_programming_with_ros-master\effective_robotics_programming_with_ros-master\chapter10_tutorials\src\pcl_create.cpp
?????文件????????1178??2017-11-23?15:29??effective_robotics_programming_with_ros-master\effective_robotics_programming_with_ros-master\chapter10_tutorials\src\pcl_downsampling.cpp
?????文件????????1207??2017-11-23?15:29??effective_robotics_programming_with_ros-master\effective_robotics_programming_with_ros-master\chapter10_tutorials\src\pcl_filter.cpp
?????文件????????1569??2017-11-23?15:29??effective_robotics_programming_with_ros-master\effective_robotics_programming_with_ros-master\chapter10_tutorials\src\pcl_matching.cpp
?????文件????????1811??2017-11-23?15:29??effective_robotics_programming_with_ros-master\effective_robotics_programming_with_ros-master\chapter10_tutorials\src\pcl_model_estimation.cpp
?????文件????????1720??2017-11-23?15:29??effective_robotics_programming_with_ros-master\effective_robotics_programming_with_ros-master\chapter10_tutorials\src\pcl_partitioning.cpp
?????文件????????2524??2017-11-23?15:29??effective_robotics_programming_with_ros-master\effective_robotics_programming_with_ros-master\chapter10_tutorials\src\pcl_planar_segmentation.cpp
?????文件?????????711??2017-11-23?15:29??effective_robotics_programming_with_ros-master\effective_robotics_programming_with_ros-master\chapter10_tutorials\src\pcl_read.cpp
?????文件????????1043??2017-11-23?15:29??effective_robotics_programming_with_ros-master\effective_robotics_programming_with_ros-master\chapter10_tutorials\src\pcl_visualize.cpp
?????文件????????2005??2017-11-23?15:29??effective_robotics_programming_with_ros-master\effective_robotics_programming_with_ros-master\chapter10_tutorials\src\pcl_visualize2.cpp
?????文件?????????559??2017-11-23?15:29??effective_robotics_programming_with_ros-master\effective_robotics_programming_with_ros-master\chapter10_tutorials\src\pcl_write.cpp
?????目錄???????????0??2017-11-23?15:29??effective_robotics_programming_with_ros-master\effective_robotics_programming_with_ros-master\chapter2_tutorials\
?????目錄???????????0??2017-11-23?15:29??effective_robotics_programming_with_ros-master\effective_robotics_programming_with_ros-master\chapter2_tutorials\cfg\
?????文件?????????843??2017-11-23?15:29??effective_robotics_programming_with_ros-master\effective_robotics_programming_with_ros-master\chapter2_tutorials\cfg\chapter2.cfg
?????文件????????6628??2017-11-23?15:29??effective_robotics_programming_with_ros-master\effective_robotics_programming_with_ros-master\chapter2_tutorials\CMakeLists.txt
?????目錄???????????0??2017-11-23?15:29??effective_robotics_programming_with_ros-master\effective_robotics_programming_with_ros-master\chapter2_tutorials\launch\
?????文件?????????208??2017-11-23?15:29??effective_robotics_programming_with_ros-master\effective_robotics_programming_with_ros-master\chapter2_tutorials\launch\chapter2.launch
?????目錄???????????0??2017-11-23?15:29??effective_robotics_programming_with_ros-master\effective_robotics_programming_with_ros-master\chapter2_tutorials\msg\
?????文件??????????24??2017-11-23?15:29??effective_robotics_programming_with_ros-master\effective_robotics_programming_with_ros-master\chapter2_tutorials\msg\chapter2_msg1.msg
?????文件????????1033??2017-11-23?15:29??effective_robotics_programming_with_ros-master\effective_robotics_programming_with_ros-master\chapter2_tutorials\package.xml
?????目錄???????????0??2017-11-23?15:29??effective_robotics_programming_with_ros-master\effective_robotics_programming_with_ros-master\chapter2_tutorials\src\
?????文件?????????527??2017-11-23?15:29??effective_robotics_programming_with_ros-master\effective_robotics_programming_with_ros-master\chapter2_tutorials\src\example1_a.cpp
?????文件?????????358??2017-11-23?15:29??effective_robotics_programming_with_ros-master\effective_robotics_programming_with_ros-master\chapter2_tutorials\src\example1_b.cpp
............此處省略403個(gè)文件信息