ros_pointcloud.cpp

#include <iostream>
#include <ros/ros.h>
#include <ros/subscriber.h>
#include <ros/publisher.h>
#include <pcl_ros/point_cloud.h>
std::unique_ptr<ros::Publisher> publisher;
void cloud_callback (const pcl::PointCloud<pcl::PointXYZI>& cloud_msg){
    ROS_INFO("inside callback");
    pcl::PointCloud<pcl::PointXYZI> cloud_out  = cloud_msg;
    publisher->publish(cloud_out);
}

int main (int argc, char** argv) {
    ros::init (argc, argv, "cloud_sub");
    ros::NodeHandle nh;
    ros::Rate loop_rate(10);
    ros::Subscriber sub;
    sub = nh.subscribe ("/livox/lidar", 1, cloud_callback);
    publisher = std::make_unique<ros::Publisher>(nh.advertise<pcl::PointCloud<pcl::PointXYZI>>("/livox/mirror", 1));
    ros::spin();
}