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I think that PointCloud2 type is not that super easy to use. I'd suggest you to go over the pcl::PointCloud<pcl::pointxyzrgb> cloud and then convert pcl point cloud back to PointCloud2 using pcl::toROSMsg() method as suggested here: http://www.pcl-users.org/Combine-sensor-msgs-PointCloud2-msg-rgb-sensor-msgs-Image-into-a-properly-colored-PointCloud2-td2814133.html.