send_point_cloud_2.py

#!/usr/bin/env python

# This program publishes a pointcloud2 to test rviz rendering

from __future__ import print_function

import rospy
import numpy as np
from sensor_msgs import point_cloud2
from sensor_msgs.msg import PointCloud2
from sensor_msgs.msg import PointField
from std_msgs.msg import Header

width = 100
height = 100


def publishPC2(count):
    fields = [
        PointField("x", 0, PointField.FLOAT32, 1),
        PointField("y", 4, PointField.FLOAT32, 1),
        PointField("z", 8, PointField.FLOAT32, 1),
        PointField("intensity", 12, PointField.FLOAT32, 1),
    ]

    header = Header()
    header.frame_id = "map"
    header.stamp = rospy.Time.now()

    x, y = np.meshgrid(np.linspace(-2, 2, width), np.linspace(-2, 2, height))
    z = 0.5 * np.sin(2 * x - count / 10.0) * np.sin(2 * y)
    points = np.array([x, y, z, z]).reshape(4, -1).T

    pc2 = point_cloud2.create_cloud(header, fields, points)
    pub.publish(pc2)


if __name__ == "__main__":
    rospy.init_node("pc2_publisher")
    pub = rospy.Publisher("points2", PointCloud2, queue_size=100)
    rate = rospy.Rate(10)

    count = 0
    while not rospy.is_shutdown():
        publishPC2(count)
        count += 1
        rate.sleep()