3D pointcloud of must published as sensor_msgs::PointCloud2 ？

[MichaelSun1001]

First ，Thank you very much for your work ！！！
as the title , I do not see any code to receive sensor_msgs::PointCloud2 topic in src code , I do not know ,where is the function code ,did I miss it ?

Look forward to your reply!

Thank you sincerely again!