不使用pcl库发布sensor_msgs::PointCloud2类型话题

现在网上的代码都是使用pcl转成ros消息再发布，特别麻烦

sensor_msgs::PointCloud2 PreparePointCloud2Message(const std::string &frame_id, const int num_points)
{
    sensor_msgs::PointCloud2 msg;
    msg.header.stamp = ros::Time::now();
    msg.header.frame_id = frame_id;
    msg.height = 1;
    msg.width = num_points;
    msg.fields.resize(3);
    msg.fields[0].name = "x";
    msg.fields[0].offset = 0;
    msg.fields[0].datatype = sensor_msgs::PointField::FLOAT32;
    msg.fields[0].count = 1;
    msg.fields[1].name = "y";
    msg.fields[1].offset = 4;
    msg.fields[1].datatype = sensor_msgs::PointField::FLOAT32;
    msg.fields[1].count = 1;
    msg.fields[2].name = "z";
    msg.fields[2].offset = 8;
    msg.fields[2].datatype = sensor_msgs::PointField::FLOAT32;
    msg.fields[2].count = 1;
    msg.is_bigendian = false;
    msg.point_step = 12;
    msg.row_step = 12 * msg.width;
    msg.is_dense = true;
    msg.data.resize(12 * num_points);
    return msg;
}
auto msg = PreparePointCloud2Message("base_link", cluster_points_size);
::ros::serialization::OStream stream(msg.data.data(), msg.data.size());
for (const auto &temp_point : points)
{
  stream.next(temp_point.position.x());
  stream.next(temp_point.position.y());
  stream.next(0.0);
}
}