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I use this http://www.ros.org/wiki/point_cloud_converter

You could look at the source to see if there's any change needed for Fuerte or Groovy (probably not, since it's mostly data copying)

See also http://www.ros.org/wiki/pcl/Overview#Converting_between_the_.60sensor_msgs::PointCloud.60_and_.60sensor_msgs::PointCloud2.60_format