PCD visualization in Rviz [closed]

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Hi Community!

I'm trying to import and manipulate a PCD file in C++ code then visualize the results in Rviz. I feel like this is an easy problem to solve with a couple lines of code but I can't seem to figure them out. I have successfully connected Rviz to my Kinect and Lidar devices and then use PCL etc. to manipulate the live point messages. But I can't seem to import anything and visualize successfully. Any suggestions??

EDIT: Figured it out! heres the code. it might be a bit inefficient but it works.

# include <iostream>
# include <string>

#include <ros/ros.h>

#include <pcl_ros/point_cloud.h>
#include <pcl/point_types.h>
#include <pcl_conversions/pcl_conversions.h>
#include <pcl_ros/io/pcd_io.h>

typedef pcl::PointCloud<pcl::PointXYZ> PointCloud;
using namespace std;

int main(int argc, char** argv)
{
  double x_cloud; double y_cloud; double z_cloud;
  pcl::PointCloud<pcl::PointXYZ>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZ>);
  ros::init (argc, argv, "my_pcl_tutorial");
  ros::NodeHandle nh;
  ros::Publisher pub = nh.advertise<PointCloud> ("points2", 1);
  pcl::io::loadPCDFile<pcl::PointXYZ> ("yourfile.pcd", *cloud);

  PointCloud::Ptr msg (new PointCloud);
  msg->header.frame_id = "frame1";
  msg->height = cloud->height;
  msg->width = cloud->width;

  for (size_t i = 0; i < cloud->size (); i++) {
  x_cloud = cloud->points[i].x;
  y_cloud = cloud->points[i].y;
  z_cloud = cloud->points[i].z;
  msg->points.push_back (pcl::PointXYZ (x_cloud, y_cloud, z_cloud));
  }

  ros::Rate loop_rate(4);


  while (nh.ok())
  {
    //msg->header.stamp = ros::Time::now().toNSec();
    pub.publish (msg);
    ros::spinOnce ();
    loop_rate.sleep ();
  }
}