Publish pointCloud2 from csv files for LOAM

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Hi everyone,

I have laser scans in the form of .csv files. I want to read these .csv files and publish the scans as Pointcloud2 messages, so that I can feed them to LOAM for registration.

Currently, I am trying to do it with Matlab, but there doesn't seem to be a way to publish pointcloud2 message from Matlab?

So, could you please recommend me how to do that either in Matlab or by any other way?

I understand that somehow I need to set the fields of the PointCloud2 object using the scan data from .csv files, but I am not sure how to do that. So, your help is greatly appreciated because I could not find the solution to this problem online anywhere.

~Shantnu