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http://answers.ros.org/question/202787/using-pointcloud2-data-getting-xy-points-in-python/

http://ros-by-example.googlecode.com/svn/trunk/rbx_vol_1/rbx1_apps/nodes/follower2.py

import sensor_msgs.point_cloud2
...
for point in sensor_msgs.point_cloud2.read_points(msg, skip_nans=True):
            pt_x = point[0]
            pt_y = point[1]
            pt_z = point[2]

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