Transform geometry_msgs/TransformedStamped() to sensor_msgs/PointCloud2 on rospy

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What is it exactly that you are trying to do, and what is the end result you are after? A transform cannot be meaningfully 'translated' into a point cloud, afaict.

Data is from vicon_bridge package w/each marker packed into a geometry/TransformStamped() msg. I'm trying to stream the markers' world position to move-it as a sensor_msgs/PointCloud2 msg. I wrote a basic rospy code that picks the vector3() translation information but the pcl doens't show directions

Wondering if I should somehow include the rotation information in the pcl code so i can see the rotation of the clouds when an object moves. Code is here: https://github.com/SeRViCE-Lab/superc...

So you're creating point clouds from scratch, based on TF data coming from the vicon system?

Yes. I have the code here: https://github.com/SeRViCE-Lab/superc... . For some reason, my clouds are static and never move even when my object changes position.

Are you setting the cloud's frame_id to the correct values? Without those, they will never be transformed.

The frame_id of the child cloud doesn't matter AFAIK. What matters is that the fixed frame we are transforming into must match that of the markers from vicon. What I eventually did was to use the twist I computed from the four markers in vicon to generate a TransformedStamped msg. This was cont'd

This was then used in computing the new cloud's tranform with the do_transform_cloud object. The code is here if you are interested. It is working!