### Converting Point Cloud Data with ros_pointcloud2 in Rust

Source: https://github.com/stelzo/ros_pointcloud2/blob/main/README.md

This snippet demonstrates how to create a `PointCloud2Msg` from a vector of `PointXYZI` points and then process an incoming `PointCloud2Msg` by iterating over its points. It shows the basic usage of the `ros_pointcloud2` crate for data conversion and manipulation.

```Rust
use ros_pointcloud2::prelude::*;

// PointXYZ (and many others) are provided by the crate.
let cloud_points = vec![
  PointXYZI::new(91.486, -4.1, 42.0001, 0.1),
  PointXYZI::new(f32::MAX, f32::MIN, f32::MAX, f32::MIN),
];

let out_msg = PointCloud2Msg::try_from_vec(cloud_points).unwrap();

// Convert the ROS crate message type, we will use r2r here.
// let msg: r2r::sensor_msgs::msg::PointCloud2 = out_msg.into();
// Publish ...

// ... now incoming from a topic.
// let in_msg: PointCloud2Msg = msg.into();
let in_msg = out_msg;

let processed_cloud = in_msg.try_into_iter().unwrap()
  .map(|point: PointXYZ| { // Define the info you want to have from the Msg.
      // Some logic here ...

      point
  })
  .collect::<Vec<_>>();
```

--------------------------------

### Enabling rosrust or r2r Integration in Cargo.toml

Source: https://github.com/stelzo/ros_pointcloud2/blob/main/README.md

This TOML snippet shows how to enable integration with `r2r_msg` or `rosrust_msg` for the `ros_pointcloud2` crate by specifying them as features in the `Cargo.toml` dependencies section. This allows the library to convert to and from their respective message types.

```TOML
[dependencies]
ros_pointcloud2 = { version = "*", features = ["r2r_msg"]}
# or
ros_pointcloud2 = { version = "*", features = ["rosrust_msg"]}
```

--------------------------------

### Integrating ros_pointcloud2 with rclrs using Git Tag in Cargo.toml

Source: https://github.com/stelzo/ros_pointcloud2/blob/main/README.md

This TOML snippet demonstrates how to integrate `ros_pointcloud2` with `rclrs` by specifying a git repository and a specific tag in the `Cargo.toml`. This method is required for `rclrs` because features do not work properly for message linking.

```TOML
[dependencies]
ros_pointcloud2 = { git = "https://github.com/stelzo/ros_pointcloud2", tag = "v0.5.2_rclrs" }
```

--------------------------------

### Declaring External Dependencies for rclrs Integration in package.xml

Source: https://github.com/stelzo/ros_pointcloud2/blob/main/README.md

This XML snippet illustrates how to declare necessary external dependencies (`std_msgs`, `sensor_msgs`, `builtin_interfaces`) within the `package.xml` file of a ROS package when integrating `ros_pointcloud2` with `rclrs`. These dependencies are required for the linker.

```XML
<depend>std_msgs</depend>
<depend>sensor_msgs</depend>
<depend>builtin_interfaces</depend>
```

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