Hi all,

I'm trying to visualize a PointCloud with pcl library in ROS fuerte (ubuntu 12.04). I'm including the pcl 1.7 library and the pcl_ros library.

I need to convert the point cloud from pcl::PointCloudpcl::PointXYZRGB to sensormsgs::PointCloud2 in order to publish on topic the point cloud. But I think that in the new version of pcl library(1.7) the function pcl::toROSMsg() is not able to convert the point cloud to sensormsgs::PointCloud2.

Any suggestions?

I also found a unstable version of pcl 1.7 library integrated in ROS: pcl17. Which is the right version of pcl I should use?

thank you in advance