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Publish a sensor_msgs::PointCloud2. The easiest way would be to create a PointCloud object from the pcl and publish that directly.

It is even easier to run the openni_camera node that does that for you.

Publish a sensor_msgs::PointCloud2. The easiest way would be to create a PointCloud object from the pcl and publish that directly.directly. Section 3.1 in pcl_ros has a code example.

It is even easier to run the openni_camera node that does that for you.