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This is a collision of node names, which are independent of topic or frame names. Use the special parameter __name to fix this:

 pcd_to_pointcloud first_pc.pcd .1 /cloud_pcd:=first_pc __name:=first_pc
 pcd_to_pointcloud second_pc.pcd .1 /cloud_pcd:=second_pc __name:=second_pc

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