Kinect point cloud to pcd files

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Use pointcloud_to_pcd stated in pcl_ros.

You're able to visualize the points cloud with rviz, so I assumed that you know which topic is transmitting the pointcloud you need.

You can store the pointcloud to a pcd file by simply running

rosrun pcl_ros pointcloud_to_pcd input:=<your target topic name>

If the data in "your target topic name" is valid pointcloud data, this executable will automatically save the pointcloud to a pcd file.