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Check that call again, (look the wiki) for bag_to_pcd you have to provide the message topic, not the message type, e.g. put there

rosrun pcl_ros bag_to_pcd PATH/TO/BAGFILE.bag /my_sensor/my_points2_topic OUTPUT_DIR

if you don't know the topic, do a

rosbag info PATH/TO/BAGFILE.bag

and check which topic is a sensor_msgs/PointCloud2

Check that call again, (look the wiki) for bag_to_pcd you have to provide the message topic, not the message type, e.g. put there

rosrun pcl_ros bag_to_pcd PATH/TO/BAGFILE.bag /my_sensor/my_points2_topic OUTPUT_DIR

Furthermore, you'll need to provide a valid tf from the sensor frame id to the frame id /base_link as it is hardcoded in the bag_to_pcd. You can do that with a static transform publisher.

if you don't know the topic, do a

rosbag info PATH/TO/BAGFILE.bag

and check which topic is a sensor_msgs/PointCloud2