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You can convert it from a las to pcd using the las2pcd tool provided here: https://github.com/murtiad/las2pcd and then use the pcd_to_pointcloud node in pcl_ros to publish the pointcloud as (similar to https://answers.ros.org/question/62123/how-do-i-publish-pcd-files-in-my-folder-on-a-topic/)

rosrun pcl_ros pcd_to_pointcloud <file.pcd> [ <interval> ]

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