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As i run into the same problem i created two example packages for testing a node that publishes a text and a pointcloud2 message. Maybe the packages can be of some help.

Testing a node that receives a string and republishes it:
https://github.com/GitRepJo/ros2_cpp_test_example

Testing a node that receives a Pointcloud2 message and republishes it:
https://github.com/GitRepJo/pcl_example

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