Add Pointcloud2 Subscriber #152

Job	Run time
industrial_ci (humble, testing)	4m 7s
industrial_ci (jazzy, testing)	5m 30s
industrial_ci (kilted, testing)	4m 51s
industrial_ci (rolling, main)	3m 10s
industrial_ci (jazzy, main)	4m 56s
industrial_ci (humble, main)	3m 53s
industrial_ci (kilted, main)	4m 48s
industrial_ci (rolling, testing)	3m 25s
	34m 40s

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