Convert numpy array to PointCloud2 msg

numpy_2_pointcloud2.py

import numpy as np
import ros_numpy

from sensor_msgs.msg import PointCloud2

"""
pc: 2d numpy array of shape (N, 4)
"""

pc_array = np.zeros(len(pc), dtype=[
    ('x', np.float32),
    ('y', np.float32),
    ('z', np.float32),
    ('intensity', np.float32),
])
pc_array['x'] = pc[:, 0]
pc_array['y'] = pc[:, 1]
pc_array['z'] = pc[:, 2]
pc_array['intensity'] = pc[:, 3]

pc_msg = ros_numpy.msgify(PointCloud2, pc_array, stamp=header.stamp, frame_id=header.frame_id)