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This solved the answer to my problem: http://answers.ros.org/question/56301/frame-id-base_link-does-not-exist-when-extracting-bag-to-pcd/

Apparently doing "rosrun pcl_ros pointcloud_to_pcd input:=/sr/pointcloud2_raw" the is the same as using bag_to_pcd, and there is some error with the bag_to_pcd function.

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