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For anyone interested, here is my solution:

  #include <pcl/common/common.h>
  #include <pcl/common/common_headers.h>
  #include <pcl/PCLPointCloud2.h>
  #include <pcl/conversions.h>
  #include <pcl_conversions/pcl_conversions.h>
  #include <ros/ros.h>
  #include "sensor_msgs/PointCloud2.h"

  typedef pcl::PointXYZRGBA              PointXYZRGBA;
  typedef pcl::PointCloud <PointXYZRGBA> CloudXYZRGBA;

  void pcl::ihs::InHandScanner::grab_pc(const sensor_msgs::PointCloud2 msg)
    //ros_pcl2 to pcl2
    pcl::PCLPointCloud2 pcl_pc;
    pcl_conversions::toPCL(msg, pcl_pc);

    //pcl2 to pclxyzrgba
    pcl::PointCloud<PointXYZRGBA> input_cloud;
    pcl::fromPCLPointCloud2(pcl_pc, input_cloud);