How to add transform tf to pointcloud2?

In c++, I know how to publish a PointCloud2 message. ROS::Publisher p = nodehandle.advertise("cloudin") ; and p.publish(PCmsg);

But how do I attach a transform matrix tf?

Asked by Anurag on 2016-09-20 19:47:48 UTC

I think this is a duplicate of this

Asked by alienmon on 2016-09-20 20:45:02 UTC