sensor_msgs::PointCloud2 cloud;/*laser_geometry包中函数，将 sensor_msgs::LaserScan 转换为 sensor_msgs::PointCloud2 */ //普通转换 //projector_.projectLaser(*scan, cloud);//使⽤tf的转换 projector_.transformLaserScanToPointCloud("laser", *scan, cloud, tfListener_);int row_step = cloud....