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If you just need to work with the point data then you can create a subscriber function which will receive a pcl::PointCloud object directly as described in this tutorial. This way you don't need to worry about the underlying representation at all. The documentation on the PCL website should then tell you everything you need to know to work with the received point cloud object.

If you're interested, most of the information you showed from the message is actually meta information that describes the format of the point cloud in the message. There are many possible point types for point clouds, including custom ones so the message format has to be flexible. The Data array is then the byte buffer values of the raw point cloud data, it is possible to reconstruct the cloud from this data but there are much easier ways of doing it.

Hope this helps.