I have pointcloud2 data related to my lidar_frame. I would like to transform the data to my base_frame to use them with my ICP Algorithm. I found a sample here: https://answers.ros.org/question/291735/pointcloud2-transform-cpython/ but this example seems to be related to ros1.

Somehow I can not find tf2_sensor_msgs.tf2_sensor_msgs which contains do_transform_cloud

Is there any other sample out there?


1 Answer 1


I don't know if it is too late but to anyone wondering how to do this, in this PR just they solved that for ros2 (https://github.com/ros2/geometry2/pull/507) So you need to upgrade your ros version to Iron. There you should be able to use and import it as

from tf2_sensor_msgs import do_transform_cloud
  • $\begingroup$ Thanks for sharing! $\endgroup$
    – Kadlu
    Commented Nov 9, 2023 at 14:42

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