How to read a point cloud (.pcd) file and send it to a rosbag

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Hello, I just started using the Point Cloud Library. I followed some initial tutorial here on how to use it. I am trying to send a point cloud file .pcd into a rosbag. I would like the rosbag to receive both the ascii and the binary files. I know that the point cloud library has the useful function pcl::io::loadPCDFile<pcl::PointXYZ> that I implemented on the following example (see below the snippet of code). However I am not sure how to go back to a new line to read the file and make the rosbag understand that. My idea was to create a void nextLine() function that does that. But I stopped because I realized that for doing that I will have to write a .pcd parser from scratch according to the structure of the point cloud file. I am not sure how to move on.

Final goal would be able to read any .pcd file and send them to a rosbag --> rosbag play example.bag

See below the snipped of code I am using:

pointcloud_reader_node.cpp

#include <ros/ros.h>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
#include "../include/cloud.h"
#include <rosbag/bag.h>
#include <memory.h>
using namespace std;

int main()
{
    rosbag::Bag bag;
    bag.open("test.bag", rosbag::bagmode::Write);
    std::string fstring = "/home/to/Desktop/file.pcd";
    Cloud p;
    p.readPCloud(fstring);
//    while())
//    {
//        bag.write("point_cloud/data", p.pCloud2Msg.header.stamp , p.pCloud2Msg);
//    }
    return 0;
}

cloud.h

#include "cloud.h"

#ifndef CLOUD_H
#define CLOUD_H

#include <iostream>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
#include <sensor_msgs/PointCloud2.h>
#include <string>

class Cloud
{
public:
    void readPCloud(std::string filename);
    sensor_msgs::PointCloud2 pCloud2Msg;
    void nextLine();

private:
    unsigned int msgPointCloud;
    void packPointCloudMsg();
    std::string path;
};

#endif// CLOUD_H

cloud.cpp

#include "cloud.h"

void Cloud::readPCloud(std::string filename)
{
    pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
    if(pcl::io::loadPCDFile<pcl::PointXYZ> (filename, *cloud) == -1) // load point cloud file
    {
        PCL_ERROR("Could not read the file");
        return;
    }
    std::cout<<"Loaded"<<cloud->width * cloud->height
             <<"data points from /home/to/Desktop/file.pcd with the following fields: "
             <<std::endl;

    for(size_t i = 0; i < cloud->points.size(); ++i)
        std::cout << "    " << cloud->points[i].x
                  << " "    << cloud->points[i].y
                  << " "    << cloud->points[i].z << std::endl;
}

void Cloud::nextLine()
{

}


void Cloud::packPointCloudMsg()
{
    ros::Time time = ros::Time::now();
    pCloud2Msg.header.stamp = time;
    pCloud2Msg.header.frame_id = "point_cloud";
    pCloud2Msg.header.seq = msgPointCloud;
    pCloud2Msg.height = 1;
    pCloud2Msg.width = 5;
    pCloud2Msg.is_bigendian = false;
    pCloud2Msg.is_dense = false;
}

Thank you very much for pointing in the right direction or providing some example if anyone has ever had this problem before.