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markers_msg.points[0].x = cloud.points[...].x;
markers_msg.points[0].y = cloud.points[...].y;
markers_msg.points[0].z = cloud.points[...].z;

cloud.points[...] of This is probably because you are referring to an index that does not exist in

You can see how many data are in cloud.points.size(). If you access from cloud.points[0] to cloud.points[cloud.points.size()-1] after receiving the data, the error in question should not occur.