Can I convert sensor_msgs::Pointcloud to pcl::pointcloud directly or I need to convert sensor_msgs::Pointcloud to sensor_msgs::Pointcloud2 before converting it to pcl::pointcloud?
Can I convert a sensor_msgs::Pointcloud to pcl::pointcloud
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As far as I understood it PCL can only work with sensor_msgs::PointCloud2 directly. ros_pcl.
U can use a converter as the middle-man between your pcl node and your publisher node. How to convert sensor_msgs::pointcloud to sensor_msgs::pointcloud2
or
If possible use sensor_msgs/PointCloud2 Take a look at: laser-scan-multi-merger it can be used to convert only one laser-scan topic aswell and directly converts it to PointCloud2. The pass through filter can be done on the pcl::PointCloud side aswell no?