Creating PCL with a TF in ROS

#include <ros/ros.h>
// #include <sensor_msgs/PointCloud.h>
// PCL specific includes
#include <pcl/ros/conversions.h>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <pcl/filters/voxel_grid.h>
#include <pcl/visualization/pcl_visualizer.h>
#include <pcl_ros/impl/transforms.hpp>

#include <tf/transform_listener.h>
#include <tf/transform_broadcaster.h>

ros::Publisher pub;

const double pi=3.14159265359;

int main (int argc, char** argv)
{
    // Initialize ROS
    ros::init (argc, argv, "my_pcl_tutorial");
    ros::NodeHandle nh;

    // Create a ROS publisher for the output point cloud
    pub = nh.advertise<sensor_msgs::PointCloud2> ("cicle_cloud", 1);

    // ------------------------------------
    // -----Create example point cloud-----
    // ------------------------------------
    pcl::PointCloud<pcl::PointXYZ>::Ptr basic_cloud_ptr (new pcl::PointCloud<pcl::PointXYZ>);
    pcl::PointCloud<pcl::PointXYZRGB>::Ptr point_cloud_ptr (new pcl::PointCloud<pcl::PointXYZRGB>);
    std::cout << "Genarating example point clouds.\n\n";
    // the XYZRGB cloud will gradually go from red to green to blue.
    uint8_t r(255), g(15), b(15);
    for (float z(-1.0); z <= 1.0; z += 0.05)
        {
            for (float angle(0.0); angle <= 360.0; angle += 5.0)
                {
                    pcl::PointXYZ basic_point;
                    basic_point.x = 0.5 * cosf (angle*pi/180);
                    basic_point.y = sinf (angle*pi/180);
                    basic_point.z = z;
                    basic_cloud_ptr->points.push_back(basic_point);

                    pcl::PointXYZRGB point;
                    point.x = basic_point.x;
                    point.y = basic_point.y;
                    point.z = basic_point.z;
                    uint32_t rgb = (static_cast<uint32_t>(r) << 16 |
                                    static_cast<uint32_t>(g) << 8 | static_cast<uint32_t>(b));
                    point.rgb = *reinterpret_cast<float*>(&rgb);
                    point_cloud_ptr->points.push_back (point);
                }
            if (z < 0.0)
                {
                    r -= 12;
                    g += 12;
                }
            else
                {
                    g -= 12;
                    b += 12;
                }
        }

    ros::Rate loop_rate(10);
    sensor_msgs::PointCloud2 shape;
    pcl::toROSMsg(*point_cloud_ptr,shape);
    shape.header.frame_id="myshape";
    tf::TransformBroadcaster br;
    tf::Transform transform;
    transform.setOrigin( tf::Vector3(0.0, 0, 0.0) );
    transform.setRotation( tf::Quaternion(0, 0, 0) );

    while(nh.ok()){
        br.sendTransform(tf::StampedTransform(transform, ros::Time::now(), "world", "myshape"));
        pub.publish (shape);
        loop_rate.sleep();
    }
}