PCL-ROS

Installation

1. install PCL

Here we based on Ubuntu22.04 and ROS Humble, and I assume you already installed them.

Firstly, install PCL as follows:

sudo apt-get install libpcl-dev 

# to install special version of PCL, e.g.
sudo apt-get install libpcl-dev=1.10.0

# after installation, check PCL version
## way 1
gedit /usr/lib/x86_64-linux-gnu/cmake/pcl/PCLConfigVersion.cmake
## way 2
apt-cache show libpcl-dev

Previous test on Aug 2023, the PCL version is 1.12.1 on Ubuntu22.04.

2. Install ROS interface

# check ros pcl packages
sudo apt install ros-humble-pcl-
# install
sudo apt install -y ros-humble-pcl-*
(at least three packages need to be installed: pcl_conversions pcl_msgs pcl_ros)
sudo apt install -y pcl-tools

ROS example

Ref:

1. https://pcl.readthedocs.io/projects/tutorials/en/latest/index.html
2. https://industrial-training-master.readthedocs.io/en/humble/_source/session4/2-Introduction-to-Perception.html