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You'll need to use the pcl_ros::transformPointCloud to transform a point cloud, as far as I know it cannot be done using the doTransform method.

You'll also need to make a non const point cloud to store the result. Whenever you see a const type in C++ it means that its value cannot be changed. So you'll need to define a variable like sensor_msgs::PointCloud2 p_output_pointcloud_ptr; for the result.

Hope this helps.