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To obtain sensor_msgs/PointCloud or sensor_msgs/PointCloud2 data, I think there is an easy way to realize it. No matter what your camera_driver is, there will always have Image_raw data. I use PointGrey carema and usb camera, both drivers of them can get raw image whose format is sensor_msgs/Image. Next use image_proc http://wiki.ros.org/image_proc?distro=indigo we can get Image_rect [Image] which is the data format needed in the next step. I find depth_image_proc can produce PoindCloud or PointCloud2 data by using Image_rect. Here: http://wiki.ros.org/depth_image_proc. I think this is a way worthy of trying, even though I don't know what kind of image will finally get. I'm trying now, and I will update this question informing any one who see this question. Welcome everyone to come to discuss.