Revision history [back]

So... I don't quite know if this qualifies as an "answer" (I certainly don't want to steal anybody's karma - all credit due to gvdhoorn and jschornak), but yes, unsurprisingly to many I'm sure, creating a

pcl::PointCloud<pcl::pointxyz> cloud

then converting that to a pointcould 2 sensor message

pcl::toROSMsg(cloud, profile);

and publishing that

publisher_->publish(profile);

worked for me. I still need to figure out how to use tf2 to transform, and I think there may be some funny business around negative values, but at least there are tutorials for that. Thanks again!

So... I don't quite know if this qualifies as an "answer" (I certainly don't want to steal anybody's karma - all credit due to gvdhoorn and jschornak), but yes, unsurprisingly to many I'm sure, creating a

pcl::PointCloud<pcl::pointxyz> cloud

then converting that to a pointcould pointcloud 2 sensor message

pcl::toROSMsg(cloud, profile);

and publishing that

publisher_->publish(profile);

worked for me. I still need to figure out how to use tf2 to transform, locate the sensor, and I think there may be some funny business around negative values, but at least there are tutorials for that. Thanks again!