publish point cloud with intensity

[Durant35]

Only contains XYZ

import sensor_msgs.point_cloud2 as pc2

def publish_point_clouds(publisher, points):
    # Publish point clouds and bounding boxes
    header = std_msgs.msg.Header()
    header.stamp = rospy.Time.now()
    header.frame_id = "velodyne"
    # points.shape = (?, 4)
    # points[:, :3] ==> (?, 0...2)
    msg_points = pc2.create_cloud_xyz32(header, points[:, :3])

    publisher.publish(msg_points)

sensor_msgs/PointCloud2 Message