帮我写一个基于ROS的livox mid40型号激光雷达点云转成ros消息格式的C++代码

以下是一个基于ROS的livox mid40型号激光雷达点云转成ros消息格式的C++代码，可能需要根据实际情况进行修改和适配：

#include <ros/ros.h>
#include <sensor_msgs/PointCloud2.h>
#include <livox_ros_driver/LivoxEthPacket.h>
#include <livox_ros_driver/PacketDecoder.h>

ros::Publisher point_cloud_pub;
PacketDecoder decoder;

void livox_data_callback(const livox_ros_driver::LivoxEthPacket::ConstPtr& msg)
{
std::vector<livox_point> point_cloud;
decoder.Decode(msg->data.data(), msg->data.size(), point_cloud);

sensor_msgs::PointCloud2 cloud_msg;
cloud_msg.header.stamp = ros::Time::now();
cloud_msg.header.frame_id = "livox_mid40";
cloud_msg.width = point_cloud.size();
cloud_msg.height = 1;
cloud_msg.is_bigendian = false;
cloud_msg.is_dense = true;

sensor_msgs::PointCloud2Modifier modifier(cloud_msg);
modifier.setPointCloud2FieldsByString(2, "xyz", "rgb");

sensor_msgs::PointCloud2Iterator<float> iter_x(cloud_msg, "x");
sensor_msgs::PointCloud2Iterator<float> iter_y(cloud_msg, "y");
sensor_msgs::PointCloud2Iterator<float> iter_z(cloud_msg, "z");
sensor_msgs::PointCloud2Iterator<uint8_t> iter_r(cloud_msg, "r");
sensor_msgs::PointCloud2Iterator<uint8_t> iter_g(cloud_msg, "g");
sensor_msgs::PointCloud2Iterator<uint8_t> iter_b(cloud_msg, "b");

for (auto& p : point_cloud)
{
*iter_x = p.x / 1000.0f;
*iter_y = p.y / 1000.0f;
*iter_z = p.z / 1000.0f;
*iter_r = p.r;
*iter_g = p.g;
*iter_b = p.b;
++iter_x; ++iter_y; ++iter_z;
++iter_r; ++iter_g; ++iter_b;
}

point_cloud_pub.publish(cloud_msg);
}

int main(int argc, char** argv)
{
ros::init(argc, argv, "livox_mid40_node");
ros::NodeHandle nh;

point_cloud_pub = nh.advertise<sensor_msgs::PointCloud2>("livox_mid40_point_cloud", 10);
ros::Subscriber livox_data_sub = nh.subscribe<livox_ros_driver::LivoxEthPacket>("livox_mid40_packets", 10, livox_data_callback);

ros::spin();

return 0;
}