PointCloud vs. PointCloud2 for unstructured point clouds

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Hi, I have an application that publishes an unstructured point cloud, which in turn will be used to update a costmap. I remember reading that PointCloud is going to be retired in future a versions in favor of PointCloud2.

However, a cursory look at PointCloud2 seems as though it needs well-defined height & width fields. How can I represent an unstructured point cloud using PointCloud2?

Can I simply set height to 1 and width to N, and expect the library to treat it as a simple vector of (x,y,z) co-ordinates?

K