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you probably need to fill the header field on the lastpcl_data PointCloud2 message. As the array_to_pointcloud docs state you can pass the stamp and frame id to the function, you can use the same data in the messages on the map topic:

lastpcl_data = array_to_pointcloud2(pcl2_array, stamp=pcl2data.header.stamp, frame_id=pcl2data.header.frame_id)

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