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The PointCloud2 message is defined here: http://docs.ros.org/api/sensor_msgs/html/msg/PointCloud2.html

The PointCloud2 message is defined here: http://docs.ros.org/api/sensor_msgs/html/msg/PointCloud2.html

For interacting with PointClouds it's common to use the PCL datatype: http://wiki.ros.org/pcl_ros You can subscribe and publish directly as a PCL datatype using pcl_ros/point_cloud.h

There are also a couple of iterators defined in sensor_msgs to allow access to the PointCloud2 message without the added dependency on pcl: http://docs.ros.org/api/sensor_msgs/html/annotated.html

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