I cant import sensor_msgs.point_cloud2

edit

Many headers and naming conventions has changed in ROS2(got snake-cased). I'm not sure about python, but when using C++ you'll probably want to use:

#include <sensor_msgs/msg/point_cloud2.hpp>

or

#include <sensor_msgs/point_cloud2_iterator.hpp>

I'm guessing that for python it'll be simliar(i.e sensor_msgs.msg.point_cloud2).

Hope this helps.

In 2020 it wasn't ported yet... https://answers.ros.org/question/3579... but it was supposed to have been finished that year. https://github.com/ros2/common_interf...

UPDATE:

use sensor_msgs_py. The following assume Ubuntu 20/ROS2 Foxy.

download with: sudo apt-get install ros-foxy-sensor-msgs-py

in your script:

from sensor_msgs.msg import PointCloud2 #used as the subscription message type

from sensor_msgs_py import point_cloud2 #used to read points

...

self.subscription = self.create_subscription( PointCloud2, 'topic', self.listener_callback, 10 )

...

xyz_points = list(point_cloud2.read_points(msg, field_names=('x','y','z')))