Cannot decode additional fields in pointcloud2 msgs

[sergiobellido]

I'm trying to read pointcloud2 format messages but I want to extract all of the fields that contains by the message, not just x,y,z.
The main problem is that the code does not support the reading of other fields contents in pointcloud2 message type, except for the x,y,z fields. In my case, I am working with the LiDAR model Ouster (OS1-128), in the following link you can find the driver I am using.

https://github.com/ouster-lidar/ouster_example/tree/master/ouster_ros

The LiDAR publish inside the pointcloud2 topic, the next fields:

1. X | format: float (32 bits)
2. Y | format: float (32 bits)
3. Z | format: float (32 bits)
4. Intensity | format: float (32 bits)
5. t | format: unsigned int (32 bits)
6. Reflectivity | format: unsigned int (16 bits)
7. Ring | format: unsigned int (8 bits)
8. Noise | format: unsigned int (16 bits)
9. Range | format: unsigned int (32 bits)

The idea would be to make an implementation to be able to automatically extract the different fields contained in a pointcloud2 message independently of the fields it publishes.