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I've made a node (maybe later I will make it a nodelet) that uses tf2 to transform PointCloud2 https://github.com/lucasw/transform_point_cloud in both C++ and python. It can serve as an example and is useful as a standalone node to transform point clouds.
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I've made a node (maybe later I will make it a nodelet) that uses tf2 to transform PointCloud2 messages https://github.com/lucasw/transform_point_cloud in both C++ and python. python, and it uses dynamic reconfigure to control what frames are used in the transform. It can serve as an example and is useful as a standalone node to transform point clouds.
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