ROS发布pcl::PointXYZ数据时，时间戳问题

最新推荐文章于 2025-06-06 09:00:19 发布

chengwei0019

最新推荐文章于 2025-06-06 09:00:19 发布

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分类专栏： ROS 文章标签： ROS PointXYZ 时间戳

本文链接：https://blog.youkuaiyun.com/u012700322/article/details/51787329

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本文介绍了一种常见的ROS中发布pcl::PointXYZ数据时遇到的时间戳转换问题及其解决方案。通过使用pcl_conversions库中的转换函数，可以将ros::Time类型的时间戳正确地赋值给pcl云数据的消息头。

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在利用ROS发布pcl：：pointXYZ数据时，出现错误。

运行时出现错误：ERROR: terminate called after throwing an instance of 'std::runtime_error' what(): Time is out of dual 32-bit range

#include <ros/ros.h>
#include <pcl_ros/point_cloud.h>
#include <pcl/point_types.h>

typedef pcl::PointCloud<pcl::PointXYZ> PointCloud;

int main(int argc, char** argv)
{
    ros::init (argc, argv, "pub_pcl");
    ros::NodeHandle nh;
    ros::Publisher pub = nh.advertise<PointCloud> ("points2", 1);

    PointCloud::Ptr msg (new PointCloud);
    msg->header.frame_id = "some_tf_frame";
    msg->height = msg->width = 1;
    msg->points.push_back (pcl::PointXYZ(1.0, 2.0, 3.0));

    ros::Rate loop_rate(4);
    while (nh.ok())
    {
        msg->header.stamp = ros::Time::now ();
        pub.publish (msg);
        ros::spinOnce ();
        loop_rate.sleep ();
   } 
}

出现错误：

error: no se puede convertir ‘ros::Time’ a ‘uint64_t {aka long unsigned int}’ en la asignación (it's in Spanish, I don't know how to change my compiler language)

error: 'ros::Time' cannot be converted to 'uint64_t {aka long unsigned int}' in assignment

解决方法：

参考：http://answers.ros.org/question/172730/pcl-header-timestamp/

pcl_conversions has conversion functions :http://docs.ros.org/indigo/api/pcl_co...

To convert the time:

#include <pcl_conversions/pcl_conversions.h>
...
pcl_conversions::toPCL(ros::Time::now(), point_cloud_msg->header.stamp);

Or convert an entire header from a ros message:

pcl_conversions::toPCL(ros_msg->header, point_cloud_msg>header);