PCL, ROS, pcl to ros msg

pcl_to_ros.cpp

void loam_wrapper::publishInput(pcl::PointCloud<pcl::PointXYZHSV>::Ptr pc)
{
    sensor_msgs::PointCloud2 pc2;
    pcl::toROSMsg(*pc, pc2);
    pc2.header.stamp = ros::Time().now();
    pc2.header.frame_id = "/world";
    publishInput(pc2);
}

/* Reference
/* https://github.com/adrelino/loam_velodyne-1/blob/master/src/loam/loam_wrapper.cpp
*/

pcl::toROSMsg(*pc, pc2); 를 하면 header 값이 초기화 된다.
The header is initialized after the transform pcl::toROSMsg().