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
Is there any other sample out there?