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Hi Miguel, thank you for your reply! Well, so it seems that I must keep these ugly conversions :-/

For what I understood, the PointCloud2 is good since it is a "raw" format, so every custom PointCloud<t> can be mapped on it... that is consistent.

However, in my humble opinion, it could be nice if at least for the more common types (e.g. XYZRGB) we could have messages that allows us to avoid copies.

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