msgpack与pcl::PointCloud的数据结构结合: CiPointCloudViewer/SkeletonsExporter.cpp at 7ae9cdc10d454f1a6e5f2349458a4d177f64b246 · izumin5210/CiPointCloudViewer (github.com) rpc的使用 controller_agv_good/ros_interface.cpp at 220681f2996696e7cf3513fe6bc56b82d54e48b4 · dbdxnuliba/controller_agv_good (github.com)