[ros-users] [Discourse.ros.org] [Next Generation ROS] Creating PointCloud2 in ROS2

[William Woodall]

You can certainly create and manipulate a PointCloud2:

```
#include "sensor_msgs/msg/point_cloud2.hpp"

int main(int argc, char * argv[])
{
  sensor_msgs::msg::PointCloud2 point_cloud2_msg;
  point_cloud2_msg.data.reserve(10);
  point_cloud2_msg.fields.reserve(10);
  // ...
}
```

But I don't know what you mean by fill. You mean from a PCL type or OpenCV type?






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