2010/12/6 Gonçalo Cabrita <goncabrita@gmail.com>:
> Hi everyone!
> I'm starting a project in which I am going to use a Point Cloud
> representation of data (not vision related).
> So my question is, should I use PointCloud2 instead of PointCloud? Is
> PointCloud sort of deprecated, or is it just a matter of choice depending on
> the requirements of my project?
> Thanks,
> Gonçalo Cabrita
> ISR - University of Coimbra
> Portugal
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Gonçalo,

According to the PCL FAQ, publishing PointCloud2 is recommended over PointCloud:

http://www.ros.org/wiki/pcl/FAQ#Is_there_any_reason_to_continue_using_PointCloud_messages.2BAC8-topics.3F

Ivan Dryanovski