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Probably way too late for op, but i willl just put it here for anyone stumble upon here like myself. Instead of unpacking the color yourself, you can simply use ros_numpy to save yourself from the headache

 pc=ros_numpy.numpify(data)
 pc=ros_numpy.point_cloud2.split_rgb_field(pc)
 points=np.zeros((pc.shape[0],3))
 points[:,0]=pc['x']
 points[:,1]=pc['y']
 points[:,2]=pc['z']
 rgb=np.zeros((pc.shape[0],3))
 rgb[:,0]=pc['r']
 rgb[:,1]=pc['g']
 rgb[:,2]=pc['b']

I formatted it this way to use it in open3d, but obviously you can reformat it to anything you like with numpy