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You cannot create a message_filters::subscriber like

message_filters::Subscriber<pcl::PointCloud<pcl::PointXYZRGB> >

because pcl::PointCloud<pcl::PointXYZRGB> itself is not a message type. Try using

message_filters::Subscriber<sensor_msgs::PointCloud2>

and convert to pcl::PointCloud<pcl::PointXYZRGB> in your callback....

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