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I use pcl_ros instead of pcl_conversions. It defines a very handy fromROSMsg function:

#include <pcl_ros/transforms.h>

sensor_msgs::PointCloud2 rosCloud;
pcl::PointCloud<pcl::PointXYZRGB>::Ptr pclCloud (new pcl::PointCloud<pcl::PointXYZRGB>); // creates a shared pointer
pcl::fromROSMsg(rosCloud, *pclCloud);

It also converts back:

pcl::toROSMsg(*pclCloud, rosCloud);

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