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  1. Yes, just remove the extra PointCloud::
  2. Move the main loop functionality from display(). This should stay in main. You have a double main loop (ros::spin() implements one), but only one is called as no one calls display(). Put the main loop from display() where ros::spin() is and call pointCloud.display() from there. Move the loop_rate part also there and uncomment it, it should work.