As far as I know it is not possible to publish pcl::PointCloud<pcl::PointXYZ>. You need to use the function pcl::toROSMsg(, ); to transform the pcl point cloud to a sensor_msgs point cloud and the publish it!

Nicolas


> From: bcharrow@seas.upenn.edu
> Date: Fri, 21 Jan 2011 09:07:40 -0500
> To: ros-users@code.ros.org
> Subject: Re: [ros-users] Publishing a vector of point clouds
> 
> The following command will find all files that use a particular message:
> 
> rosmsg users package/message_type
> 
> You can then search the returned files for a message file that contains an array of the message.
> 
> Cheers,
> Ben
> 
> On Jan 21, 2011, at 8:32 AM, cmuell2s wrote:
> 
> > Hello all,
> > 
> > I stuck at a small problem. I would like to publish a vector/array of 
> > pcl::PointCloud<pcl::PointXYZ>.
> > I couldn't find a sensor_msg or std_msg which would do it, did I 
> > overlooked sth?
> > 
> > Does anybody have a clue? Maybe a link to an example?
> > 
> > Thanks a lot for any comment.
> > 
> >   Christian Mueller
> > 
> > 
> > 
> > 
> > 
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