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You're looking for a point cloud2 iterator:

#include <sensor_msgs/msg/point_cloud2.hpp>
#include <sensor_msgs/point_cloud2_iterator.hpp>

void PointCloud2Callback(const sensor_msgs::msg::PointCloud2::SharedPtr msg)
{
    const size_t number_of_points = msg->height * msg->width;
    sensor_msgs::PointCloud2Iterator<float> iter_x(*msg, "x");
    sensor_msgs::PointCloud2Iterator<float> iter_y(*msg, "y");
    for (size_t i = 0; i < number_of_points; ++i, ++iter_x, ++iter_y)
    {
        double x = *iter_x;
        double y = *iter_y;
    }
}