ros-noetic-scan-to-cloud-converter.patch

diff --git a/src/scan_to_cloud_converter.cpp b/src/scan_to_cloud_converter.cpp
index 749c9dd..8f19af4 100644
--- a/src/scan_to_cloud_converter.cpp
+++ b/src/scan_to_cloud_converter.cpp
@@ -43,7 +43,7 @@ ScanToCloudConverter::ScanToCloudConverter(ros::NodeHandle nh, ros::NodeHandle n
   invalid_point_.y = std::numeric_limits<float>::quiet_NaN();
   invalid_point_.z = std::numeric_limits<float>::quiet_NaN();
 
-  cloud_publisher_ = nh_.advertise<PointCloudT>(
+  cloud_publisher_ = nh_.advertise<sensor_msgs::PointCloud2>(
     "cloud", 1); 
   scan_subscriber_ = nh_.subscribe(
     "scan", 1, &ScanToCloudConverter::scanCallback, this);
@@ -57,7 +57,7 @@ ScanToCloudConverter::~ScanToCloudConverter()
 void ScanToCloudConverter::scanCallback(const sensor_msgs::LaserScan::ConstPtr& scan_msg)
 {
   PointCloudT::Ptr cloud_msg =
-    boost::shared_ptr<PointCloudT>(new PointCloudT());
+    std::shared_ptr<PointCloudT>(new PointCloudT());
 
   cloud_msg->points.resize(scan_msg->ranges.size());
 
@@ -81,8 +81,10 @@ void ScanToCloudConverter::scanCallback(const sensor_msgs::LaserScan::ConstPtr&
   cloud_msg->height = 1;
   cloud_msg->is_dense = false; //contains nans
   pcl_conversions::toPCL(scan_msg->header, cloud_msg->header);
+  sensor_msgs::PointCloud2 out_cloud;
+  pcl::toROSMsg(*cloud_msg, out_cloud);
 
-  cloud_publisher_.publish(cloud_msg);
+  cloud_publisher_.publish(out_cloud);
 }
 
 } //namespace scan_tools