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read_points gives you a generator (keyword 'yield'). So you can just iterate over it to find your obstacles and not crash your shiny robot

from sensor_msgs.msg import PointCloud2
from sensor_msgs import point_cloud2

def callback_pointcloud(data):
    assert isinstance(data, PointCloud2)
    gen = point_cloud2.read_points(data)
    print type(gen)
    for p in gen:
      print p  # type depends on your data type, first three entries are probably x,y,z