1 sensor_msgs::PointCloud2ConstPtr与sensor_msgs::PointCloud2的转换 参考链接 sensor_msgs::PointCloud2ConstPtr是一个指针,*sensor_msgs::PointCloud2ConstPtr=sensor_msgs::PointCloud2; 2 convertPointCloud2ToPointCloud 参考链接2 #include <sensor_msgs/PointCloud.h>