/usr/share/sensor_msgs/msg/PointCloud2.msg is in libsensor-msgs-dev 1.12.3-5.
This file is owned by root:root, with mode 0o644.
The actual contents of the file can be viewed below.
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 | # This message holds a collection of N-dimensional points, which may
# contain additional information such as normals, intensity, etc. The
# point data is stored as a binary blob, its layout described by the
# contents of the "fields" array.
# The point cloud data may be organized 2d (image-like) or 1d
# (unordered). Point clouds organized as 2d images may be produced by
# camera depth sensors such as stereo or time-of-flight.
# Time of sensor data acquisition, and the coordinate frame ID (for 3d
# points).
Header header
# 2D structure of the point cloud. If the cloud is unordered, height is
# 1 and width is the length of the point cloud.
uint32 height
uint32 width
# Describes the channels and their layout in the binary data blob.
PointField[] fields
bool is_bigendian # Is this data bigendian?
uint32 point_step # Length of a point in bytes
uint32 row_step # Length of a row in bytes
uint8[] data # Actual point data, size is (row_step*height)
bool is_dense # True if there are no invalid points
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