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Lucky for you, code to do this already exists in the pcl_ros package. Then, rather than having your callbacks take sensor_msgs::PointCloud2 objects (or, really, ConstPtrs to sensor_msgs::PointCloud2 objects), your callbacks take in pcl::PointCloud<pcl::PointXYZRGB>::ConstPtrs; the conversion to the PCL point cloud is completely transparent, and you don't have to think about interpreting the ROS message yourself.
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