Merge pull request #758 from JuliaRobotics/21Q4/enh/reworkbagsub

use convert msgT to ingest PointCloud2

Author: dehann

Project.toml

@@ -75,11 +75,11 @@ TimeZones = "1.3.1, 1.4"
 TransformUtils = "0.2.2"
 Unmarshal = "0.3, 0.4"
 YAML = "0.3, 0.4"
-ZMQ = "1"
 julia = "1.4"
 
 [extras]
 AprilTags = "f0fec3d5-a81e-5a6a-8c28-d2b34f3659de"
+BSON = "fbb218c0-5317-5bc6-957e-2ee96dd4b1f0"
 Colors = "5ae59095-9a9b-59fe-a467-6f913c188581"
 Images = "916415d5-f1e6-5110-898d-aaa5f9f070e0"
 PyCall = "438e738f-606a-5dbb-bf0a-cddfbfd45ab0"
@@ -89,4 +89,4 @@ Test = "8dfed614-e22c-5e08-85e1-65c5234f0b40"
 ZMQ = "c2297ded-f4af-51ae-bb23-16f91089e4e1"
 
 [targets]
-test = ["AprilTags", "Colors", "Images", "PyCall", "RobotOS", "Test", "ZMQ"]
+test = ["AprilTags", "BSON", "Colors", "Images", "PyCall", "RobotOS", "Test", "ZMQ"]