PCL, ROS, sensor_msgs::PointCloud2 to PCL type

cloud_cb.cpp

#include <pcl_conversions/pcl_conversions.h>
#include <pcl/point_types.h>
#include <pcl/PCLPointCloud2.h>
#include <pcl/conversions.h>
#include <pcl_ros/transforms.h>

 void cloud_cb(const boost::shared_ptr<const sensor_msgs::PointCloud2>& input){

    pcl::PCLPointCloud2 pcl_pc2;
    pcl_conversions::toPCL(*input,pcl_pc2);
    pcl::PointCloud<pcl::PointXYZ>::Ptr temp_cloud(new pcl::PointCloud<pcl::PointXYZ>);
    pcl::fromPCLPointCloud2(pcl_pc2,*temp_cloud);
    //do stuff with temp_cloud here
    }

// Reference
/*
/* https://answers.ros.org/question/136916/conversion-from-sensor_msgspointcloud2-to-pclpointcloudt/
*/

@Pran-Seven Try out my repository and see if you get the expected result https://github.com/aaryanmurgunde/pointcloud2_merge

Here in the main branch launch file just change the topic names that you are getting pointclouds from and the frame that you want them in.
It supports 2 - 8 pointcloud merge

Hey, thanks a lot for the repo, but I need pointcloud stitching to be specfic and not just merge. My code works as expected only issue being the point cloud becomes unordered in the end leading to difficulties in using various pcl algorithms, trying to find workarounds for that.