text: #!/usr/bin/env python
  
  import rospy
  from sensor_msgs.msg import PointCloud2 as pc2
  string
  class Laser2PC1():
      def __init__(self):
     
          self.pcPub = rospy.Publisher("/cloud_new",pc2,queue_size=1)
          self.laserSub = rospy.Subscriber("/cloud",pc2,self.laserCallback)
  
      def laserCallback(self,data1):
          global string
          data1.data = string+data1.data
          string=data1.data
          self.pcPub.publish (data1.data)
  
  if __name__ == '__main__':
      rospy.init_node("laser2PointCloud")
      l2pc = Laser2PC1()
      rospy.spin()
   
  