PCL IO Errors from answers.ros.org

bun000_Structured.pcd

CMakeLists.txt

cmake_minimum_required(VERSION 2.8.3)
project( pcl_io_errs )

find_package(catkin REQUIRED COMPONENTS
  roscpp
  pcl_ros
  sensor_msgs
  )

find_package(PCL REQUIRED)
include_directories(${PCL_INCLUDE_DIRS})
link_directories(${PCL_LIBRARY_DIRS})
add_definitions(${PCL_DEFINITIONS})

catkin_package()


include_directories(include
  ${catkin_INCLUDE_DIRS}
)
  

add_executable(pcl_io_errs pclio.cpp)
add_dependencies(pcl_io_errs ${catkin_EXPORTED_TARGETS})
target_link_libraries(pcl_io_errs ${catkin_LIBRARIES} ${PCL_LIBRARIES})

package.xml

<?xml version="1.0"?>
<package>
  <name> pcl_io_errs </name>
  <version>0.0.0</version>
  <description>
	test package
  </description>

  <maintainer email="[email protected]">jarvis</maintainer>
  <license>GPLv3</license>

  <buildtool_depend>catkin</buildtool_depend>
  <build_depend>roscpp</build_depend>
  <build_depend>sensor_msgs</build_depend>
  <build_depend>libpcl1-dev</build_depend>
  <build_depend>pcl_ros</build_depend>
  <run_depend>roscpp</run_depend>
  <run_depend>sensor_msgs</run_depend>
  <run_depend>libpcl1</run_depend>
  <run_depend>pcl_ros</run_depend>
  
</package>

pclio.cpp

#include "ros/ros.h"
#include <ros/package.h>
#include <sensor_msgs/PointCloud2.h>

//PCL
#include <iostream>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
#include <pcl_conversions/pcl_conversions.h>

int main(int argc, char **argv)
{

    ros::init(argc, argv, "pcl_io_errs");
    ros::NodeHandle n;

    //test PointCloud_to_ObjectModel3D
    ros::Publisher pub = n.advertise<sensor_msgs::PointCloud2>("point_cloud", 1);

    pcl::PointCloud<pcl::PointXYZ>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZ>);
    std::string path = ros::package::getPath("pcl_io_errs");
    pcl::io::loadPCDFile<pcl::PointXYZ> (path+"/bun000_Structured.pcd", *cloud);


    ros::Rate loop_rate(10);
    while (ros::ok())
    {
        sensor_msgs::PointCloud2 cloud2;
        pcl::toROSMsg(*cloud, cloud2);
        cloud2.header.frame_id = "point_cloud_link";
        cloud2.header.stamp = ros::Time::now();
        pub.publish(cloud2);
        ros::spinOnce();
        loop_rate.sleep();
    }
    return 0;
}