pointcloud_node

def point_cloud_msg(points, parent_frame='base_link'):

    ros_dtype = sensor_msgs.PointField.FLOAT32 # csak ezt eszi meg az rviz
    dtype = np.float32
    itemsize = np.dtype(dtype).itemsize

    data = points.astype(dtype).tobytes()

    fields = [sensor_msgs.PointField(
        name=n, offset=i*itemsize, datatype=ros_dtype, count=1)
        for i, n in enumerate('rgbxyza')]

    header = std_msgs.Header(frame_id=parent_frame, stamp=rospy.Time.now())

    return sensor_msgs.PointCloud2(
        header=header,
        height=points.shape[0],
        width=points.shape[1],
        is_dense=False,
        is_bigendian=False,
        fields=fields,
        point_step=points.dtype.itemsize,
        row_step=(points.dtype.itemsize * points.shape[1]),
        data=data                   
    )