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You could do this in ROS Hydro PCL 1.7 if your mesh was a pcl::PolygonMesh:

const std::string meshFileName = "test.stl";

pcl::PolygonMesh testMesh;

pcl::io::loadPolygonFileSTL( meshFileName, testMesh );

pcl_conversions::fromPCL( testMesh.cloud, output );

You could do this in ROS Hydro PCL 1.7 if your mesh was a pcl::PolygonMesh:

#include <pcl/io/vtk_io.h>

const std::string meshFileName = "test.stl";
"test.stl";
 pcl::PolygonMesh testMesh;
 
pcl::PolygonMesh testMesh;
 
pcl::io::loadPolygonFileSTL( meshFileName, testMesh ););
  
pcl_conversions::fromPCL( testMesh.cloud, output ););

You could do this in ROS Hydro PCL 1.7 if your mesh was a pcl::PolygonMesh:

#include <pcl/io/vtk_io.h>

const std::string meshFileName = "test.stl";

pcl::PolygonMesh testMesh;
 pcl::io::loadPolygonFileSTL( meshFileName, testMesh );
);    
pcl_conversions::fromPCL( testMesh.cloud, output );