I needed to convert a topic of rosbag2 file to a folder of pcds. I’ve searched but somehow missed this great ros2bag_tools tool. And created this small single purpose package
If you need to convert a ros2 bag file to pcds, you can use this package, it’s pretty basic.
Assumes the point cloud in the bag has at least the regular float x,y,z,intensity fields.
Related post: ros2bag_tools: A set of usesful tools for ros2 bags