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I think the problem is that you are trying to use fromROSmsg
using as input a point cloud that is already with namespace pcl. Does pcl::io::savePCDFileASCII(*input)
work? Another way to make it work could be using a sensor_msgs/PointCloud2
in your callback as input type (void cloud_cb (const sensor_msgs::PointCloud2ConstPtr& input)
) and then use the conversion with fromROSmsg. Let me know if it works!