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I have figured it out thanks to joq's comment. In the /velodyne/velodyne_pointcloud/include/velodyne_pointcloud there is a header file point_types.h. If you are writing a subscribe for velodyne_point you will need to include this header file so pcl_converter is able to interpret the topic and convert is to pcl::pointcloud. The callback function of the subscriber will do the conversion on the fly as it receives velodyne_point.