I am having issues with the pcl::PointCloud publication... I cannot seem to publish the topic... I have a full set of points, so I'm trying to publish them. How does one do this? The examples I saw were for a single point. I'm trying to publish a full 2D cloud. If at all possible, it is preferable to publish a LaserScan instead of a pointcloud if anyone could help me with that conversion.

Thanks,

-Hunter A.