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i'd solve that in this way:
sensor_msgs::PointCloud output;
output.header = input->header;
geometry_msgs::Point32 as;
as.x = input->pose.position.x;
as.y = input->pose.position.y;
as.z = input->pose.position.z;
output.points.push_back(as);
But the input->pose.position is the pose of the drone and not the pointcloud, probably i'd read in the wrong way the topics and the messages on Rviz.
i hope this maybe could help someone...
thanks for all your advices Erwan, i appriciate!