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Hi @adiManav

Point Cloud is independent of ROS so you can achieve this without using ROS: https://point.cloud/

If you would like to use ROS, I suggest to start here: http://wiki.ros.org/pcl/Overview

Then go over this wonderful tutorials from methylDragon, easy to follow: https://github.com/methylDragon/pcl-ros-tutorial/blob/master/PCL%20Reference%20with%20ROS.md

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