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How do I convert from the PointCloud format to the PointCloud2 format or vice versa?

April 26, 2017convert format pointcloud pointcloud2 versa

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How do I convert from the PointCloud format to the PointCloud2 format or vice versa?

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The easiest way is just to run an instance of the point_cloud_converter node, which subscribes to topics of both types and publishes topics of both types.