diff --git a/rviz2/test/tools/send_lots_of_points_node.cpp b/rviz2/test/tools/send_lots_of_points_node.cpp
index 5f70b1e6b..5eb672532 100644
--- a/rviz2/test/tools/send_lots_of_points_node.cpp
+++ b/rviz2/test/tools/send_lots_of_points_node.cpp
@@ -31,7 +31,8 @@
 #include <cmath>
 
 #include "rclcpp/rclcpp.hpp"
-#include "sensor_msgs/msg/point_cloud.hpp"
+#include "sensor_msgs/msg/point_cloud2.hpp"
+#include "sensor_msgs/point_cloud2_iterator.hpp"
 #include "geometry_msgs/msg/point32.hpp"
 
 int main(int argc, char ** argv)
@@ -54,34 +55,53 @@ int main(int argc, char ** argv)
 
   auto node = rclcpp::Node::make_shared("send_lots_of_points");
 
-  auto pub = node->create_publisher<sensor_msgs::msg::PointCloud>("pointcloud", 100);
+  auto pub = node->create_publisher<sensor_msgs::msg::PointCloud2>("pointcloud", 100);
   rclcpp::Rate loop_rate(rate);
 
-  sensor_msgs::msg::PointCloud msg;
+  sensor_msgs::msg::PointCloud2 msg;
   int width = size;
   int length = 2 * size;
-  msg.points.resize(width * length);
   msg.header.frame_id = "world";
 
+  // Fill 2 using an iterator
+  sensor_msgs::PointCloud2Modifier modifier(msg);
+  modifier.setPointCloud2FieldsByString(2, "xyz", "rgb");
   int count = 0;
+  printf("cloud_msg_.point_step %d\n", msg.point_step);
   while (rclcpp::ok() ) {
     width++;
-    msg.points.resize(width * length + (count % 2) );
-
+    modifier.resize(width, length + (count % 2));
+    sensor_msgs::PointCloud2Iterator<float> iter_x(msg, "x");
+    sensor_msgs::PointCloud2Iterator<float> iter_y(msg, "y");
+    sensor_msgs::PointCloud2Iterator<float> iter_z(msg, "z");
+    sensor_msgs::PointCloud2Iterator<uint8_t> iter_r(msg, "r");
+    sensor_msgs::PointCloud2Iterator<uint8_t> iter_g(msg, "g");
+    sensor_msgs::PointCloud2Iterator<uint8_t> iter_b(msg, "b");
     for (int x = 0; x < width; x++) {
       for (int y = 0; y < length; y++) {
-        geometry_msgs::msg::Point32 & point = msg.points[x + y * width];
-        point.x = static_cast<float>(x / 100.0);
-        point.y = static_cast<float>(y / 100.0);
-//        point.z = sinf( x / 100.0 + y / 100.0 + count / 100.0 );
-        point.z = ((x + y + count) % 100) / 100.0f;
+        if (count % 2) {
+          *iter_x = -.1f;
+          *iter_y = -.1f;
+          *iter_z = 1.1f;
+        } else {
+          *iter_x = static_cast<float>(x / 100.0);
+          *iter_y = static_cast<float>(y / 100.0);
+          *iter_z = ((x + y + count) % 100) / 100.0f;
+        }
+
+        *iter_r = 255;
+        *iter_g = 0;
+        *iter_b = 0;
+
+        ++iter_x;
+        ++iter_y;
+        ++iter_z;
+        ++iter_r;
+        ++iter_g;
+        ++iter_b;
       }
     }
-    if (count % 2) {
-      msg.points[width * length + 1].x = -.1f;
-      msg.points[width * length + 1].y = -.1f;
-      msg.points[width * length + 1].z = 1.1f;
-    }
+
     msg.header.stamp = node->now();
 
     printf(
diff --git a/rviz_default_plugins/CMakeLists.txt b/rviz_default_plugins/CMakeLists.txt
index 1bdc96b17..912930e1e 100644
--- a/rviz_default_plugins/CMakeLists.txt
+++ b/rviz_default_plugins/CMakeLists.txt
@@ -187,10 +187,8 @@ set(rviz_default_plugins_source_files
   src/rviz_default_plugins/displays/pointcloud/transformers/xyz_pc_transformer.cpp
   src/rviz_default_plugins/displays/pointcloud/get_transport_from_topic.cpp
   src/rviz_default_plugins/displays/pointcloud/point_cloud_common.cpp
-  src/rviz_default_plugins/displays/pointcloud/point_cloud_to_point_cloud2.cpp
   src/rviz_default_plugins/displays/pointcloud/point_cloud_transformer_factory.cpp
   src/rviz_default_plugins/displays/pointcloud/point_cloud_selection_handler.cpp
-  src/rviz_default_plugins/displays/pointcloud/point_cloud_display.cpp
   src/rviz_default_plugins/displays/pointcloud/point_cloud2_display.cpp
   src/rviz_default_plugins/displays/polygon/polygon_display.cpp
   src/rviz_default_plugins/displays/pose/pose_display.cpp
@@ -1025,24 +1023,6 @@ if(BUILD_TESTING)
     )
   endif()
 
-  ament_add_gtest(point_cloud_display_visual_test
-    test/rviz_default_plugins/displays/pointcloud/point_cloud_display_visual_test.cpp
-    ${SKIP_VISUAL_TESTS}
-    TIMEOUT 180)
-  if(TARGET point_cloud_display_visual_test)
-    target_include_directories(point_cloud_display_visual_test PRIVATE test)
-    target_link_libraries(point_cloud_display_visual_test
-      Qt5::Test
-      rviz_visual_testing_framework::rviz_visual_testing_framework
-      ${geometry_msgs_TARGETS}
-      tf2::tf2
-      rclcpp::rclcpp
-      ${std_msgs_TARGETS}
-      ${sensor_msgs_TARGETS}
-      point_cloud_common_page_object
-    )
-  endif()
-
   ament_add_gtest(point_cloud2_display_visual_test
     test/rviz_default_plugins/displays/pointcloud/point_cloud2_display_visual_test.cpp
     ${SKIP_VISUAL_TESTS}
diff --git a/rviz_default_plugins/include/rviz_default_plugins/displays/pointcloud/point_cloud_common.hpp b/rviz_default_plugins/include/rviz_default_plugins/displays/pointcloud/point_cloud_common.hpp
index 3b9761fb0..21c8b80af 100644
--- a/rviz_default_plugins/include/rviz_default_plugins/displays/pointcloud/point_cloud_common.hpp
+++ b/rviz_default_plugins/include/rviz_default_plugins/displays/pointcloud/point_cloud_common.hpp
@@ -145,7 +145,6 @@ class RVIZ_DEFAULT_PLUGINS_PUBLIC PointCloudCommon : public QObject
   void reset();
   void update(float wall_dt, float ros_dt);
 
-  void addMessage(sensor_msgs::msg::PointCloud::ConstSharedPtr cloud);
   void addMessage(sensor_msgs::msg::PointCloud2::ConstSharedPtr cloud);
 
   rviz_common::Display * getDisplay() {return display_;}
diff --git a/rviz_default_plugins/include/rviz_default_plugins/displays/pointcloud/point_cloud_display.hpp b/rviz_default_plugins/include/rviz_default_plugins/displays/pointcloud/point_cloud_display.hpp
deleted file mode 100644
index 97caecec1..000000000
--- a/rviz_default_plugins/include/rviz_default_plugins/displays/pointcloud/point_cloud_display.hpp
+++ /dev/null
@@ -1,94 +0,0 @@
-// Copyright (c) 2008, Willow Garage, Inc.
-// All rights reserved.
-//
-// Redistribution and use in source and binary forms, with or without
-// modification, are permitted provided that the following conditions are met:
-//
-//    * Redistributions of source code must retain the above copyright
-//      notice, this list of conditions and the following disclaimer.
-//
-//    * Redistributions in binary form must reproduce the above copyright
-//      notice, this list of conditions and the following disclaimer in the
-//      documentation and/or other materials provided with the distribution.
-//
-//    * Neither the name of the copyright holder nor the names of its
-//      contributors may be used to endorse or promote products derived from
-//      this software without specific prior written permission.
-//
-// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-// POSSIBILITY OF SUCH DAMAGE.
-
-
-#ifndef RVIZ_DEFAULT_PLUGINS__DISPLAYS__POINTCLOUD__POINT_CLOUD_DISPLAY_HPP_
-#define RVIZ_DEFAULT_PLUGINS__DISPLAYS__POINTCLOUD__POINT_CLOUD_DISPLAY_HPP_
-
-#include <deque>
-#include <memory>
-#include <queue>
-#include <vector>
-
-#include "sensor_msgs/msg/point_cloud.hpp"
-
-#include "rviz_common/message_filter_display.hpp"
-
-#include "rviz_default_plugins/displays/pointcloud/point_cloud_common.hpp"
-#include "rviz_default_plugins/visibility_control.hpp"
-
-namespace rviz_common
-{
-namespace properties
-{
-
-class IntProperty;
-
-}  // namespace properties
-}  // namespace rviz_common
-
-namespace rviz_default_plugins
-{
-namespace displays
-{
-
-/**
- * \class PointCloudDisplay
- * \brief Displays a point cloud of type sensor_msgs::PointCloud
- *
- * By default it will assume channel 0 of the cloud is an intensity value, and will color them by intensity.
- * If you set the channel's name to "rgb", it will interpret the channel as an integer rgb value, with r, g and b
- * all being 8 bits.
- */
-class RVIZ_DEFAULT_PLUGINS_PUBLIC PointCloudDisplay : public
-  rviz_common::MessageFilterDisplay<sensor_msgs::msg::PointCloud>
-{
-public:
-  PointCloudDisplay();
-
-  void reset() override;
-
-  void update(float wall_dt, float ros_dt) override;
-
-  void onDisable() override;
-
-protected:
-  /** @brief Do initialization. Overridden from MessageFilterDisplay. */
-  void onInitialize() override;
-
-  /** @brief Process a single message.  Overridden from MessageFilterDisplay. */
-  void processMessage(sensor_msgs::msg::PointCloud::ConstSharedPtr cloud) override;
-
-  std::unique_ptr<PointCloudCommon> point_cloud_common_;
-};
-
-}  // namespace displays
-}  // namespace rviz_default_plugins
-
-#endif  // RVIZ_DEFAULT_PLUGINS__DISPLAYS__POINTCLOUD__POINT_CLOUD_DISPLAY_HPP_
diff --git a/rviz_default_plugins/include/rviz_default_plugins/displays/pointcloud/point_cloud_to_point_cloud2.hpp b/rviz_default_plugins/include/rviz_default_plugins/displays/pointcloud/point_cloud_to_point_cloud2.hpp
deleted file mode 100644
index 3c9739e4d..000000000
--- a/rviz_default_plugins/include/rviz_default_plugins/displays/pointcloud/point_cloud_to_point_cloud2.hpp
+++ /dev/null
@@ -1,48 +0,0 @@
-// Copyright (c) 2008, Willow Garage, Inc.
-// Copyright (c) 2017, Bosch Software Innovations GmbH.
-// All rights reserved.
-//
-// Redistribution and use in source and binary forms, with or without
-// modification, are permitted provided that the following conditions are met:
-//
-//    * Redistributions of source code must retain the above copyright
-//      notice, this list of conditions and the following disclaimer.
-//
-//    * Redistributions in binary form must reproduce the above copyright
-//      notice, this list of conditions and the following disclaimer in the
-//      documentation and/or other materials provided with the distribution.
-//
-//    * Neither the name of the copyright holder nor the names of its
-//      contributors may be used to endorse or promote products derived from
-//      this software without specific prior written permission.
-//
-// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-// POSSIBILITY OF SUCH DAMAGE.
-
-#ifndef RVIZ_DEFAULT_PLUGINS__DISPLAYS__POINTCLOUD__POINT_CLOUD_TO_POINT_CLOUD2_HPP_
-#define RVIZ_DEFAULT_PLUGINS__DISPLAYS__POINTCLOUD__POINT_CLOUD_TO_POINT_CLOUD2_HPP_
-
-#include "sensor_msgs/msg/point_cloud.hpp"
-#include "sensor_msgs/msg/point_cloud2.hpp"
-
-#include "rviz_default_plugins/visibility_control.hpp"
-
-namespace rviz_default_plugins
-{
-
-RVIZ_DEFAULT_PLUGINS_PUBLIC
-sensor_msgs::msg::PointCloud2::ConstSharedPtr
-convertPointCloudToPointCloud2(sensor_msgs::msg::PointCloud::ConstSharedPtr input);
-
-}  // namespace rviz_default_plugins
-
-#endif  // RVIZ_DEFAULT_PLUGINS__DISPLAYS__POINTCLOUD__POINT_CLOUD_TO_POINT_CLOUD2_HPP_
diff --git a/rviz_default_plugins/src/rviz_default_plugins/displays/pointcloud/point_cloud_common.cpp b/rviz_default_plugins/src/rviz_default_plugins/displays/pointcloud/point_cloud_common.cpp
index 2ce82e7fd..c317d2397 100644
--- a/rviz_default_plugins/src/rviz_default_plugins/displays/pointcloud/point_cloud_common.cpp
+++ b/rviz_default_plugins/src/rviz_default_plugins/displays/pointcloud/point_cloud_common.cpp
@@ -41,7 +41,6 @@
 
 #include "rclcpp/clock.hpp"
 
-#include "rviz_default_plugins/displays/pointcloud/point_cloud_to_point_cloud2.hpp"
 #include "rviz_default_plugins/displays/pointcloud/point_cloud_helpers.hpp"
 #include "rviz_common/display.hpp"
 #include "rviz_common/display_context.hpp"
@@ -667,11 +666,6 @@ void PointCloudCommon::setProblematicPointsToInfinity(V_PointCloudPoint & cloud_
   }
 }
 
-void PointCloudCommon::addMessage(const sensor_msgs::msg::PointCloud::ConstSharedPtr cloud)
-{
-  addMessage(convertPointCloudToPointCloud2(cloud));
-}
-
 void PointCloudCommon::addMessage(const sensor_msgs::msg::PointCloud2::ConstSharedPtr cloud)
 {
   processMessage(cloud);
diff --git a/rviz_default_plugins/src/rviz_default_plugins/displays/pointcloud/point_cloud_display.cpp b/rviz_default_plugins/src/rviz_default_plugins/displays/pointcloud/point_cloud_display.cpp
deleted file mode 100644
index 7715eec83..000000000
--- a/rviz_default_plugins/src/rviz_default_plugins/displays/pointcloud/point_cloud_display.cpp
+++ /dev/null
@@ -1,83 +0,0 @@
-// Copyright (c) 2008, Willow Garage, Inc.
-// All rights reserved.
-//
-// Redistribution and use in source and binary forms, with or without
-// modification, are permitted provided that the following conditions are met:
-//
-//    * Redistributions of source code must retain the above copyright
-//      notice, this list of conditions and the following disclaimer.
-//
-//    * Redistributions in binary form must reproduce the above copyright
-//      notice, this list of conditions and the following disclaimer in the
-//      documentation and/or other materials provided with the distribution.
-//
-//    * Neither the name of the copyright holder nor the names of its
-//      contributors may be used to endorse or promote products derived from
-//      this software without specific prior written permission.
-//
-// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-// POSSIBILITY OF SUCH DAMAGE.
-
-#include "rviz_default_plugins/displays/pointcloud/point_cloud_display.hpp"
-
-#include <memory>
-#include <utility>
-
-#include <Ogre.h>
-
-#include "rviz_default_plugins/displays/pointcloud/point_cloud_common.hpp"
-#include "rviz_common/display_context.hpp"
-#include "rviz_common/frame_manager_iface.hpp"
-#include "rviz_common/properties/int_property.hpp"
-
-namespace rviz_default_plugins
-{
-namespace displays
-{
-
-PointCloudDisplay::PointCloudDisplay()
-: point_cloud_common_(std::make_unique<PointCloudCommon>(this))
-{}
-
-void PointCloudDisplay::onInitialize()
-{
-  MFDClass::onInitialize();
-  point_cloud_common_->initialize(context_, scene_node_);
-}
-
-void PointCloudDisplay::processMessage(const sensor_msgs::msg::PointCloud::ConstSharedPtr cloud)
-{
-  point_cloud_common_->addMessage(cloud);
-}
-
-void PointCloudDisplay::update(float wall_dt, float ros_dt)
-{
-  point_cloud_common_->update(wall_dt, ros_dt);
-}
-
-void PointCloudDisplay::reset()
-{
-  MFDClass::reset();
-  point_cloud_common_->reset();
-}
-
-void PointCloudDisplay::onDisable()
-{
-  MFDClass::onDisable();
-  point_cloud_common_->onDisable();
-}
-
-}  // namespace displays
-}  // namespace rviz_default_plugins
-
-#include <pluginlib/class_list_macros.hpp>  // NOLINT
-PLUGINLIB_EXPORT_CLASS(rviz_default_plugins::displays::PointCloudDisplay, rviz_common::Display)
diff --git a/rviz_default_plugins/src/rviz_default_plugins/displays/pointcloud/point_cloud_to_point_cloud2.cpp b/rviz_default_plugins/src/rviz_default_plugins/displays/pointcloud/point_cloud_to_point_cloud2.cpp
deleted file mode 100644
index cca02b8a4..000000000
--- a/rviz_default_plugins/src/rviz_default_plugins/displays/pointcloud/point_cloud_to_point_cloud2.cpp
+++ /dev/null
@@ -1,85 +0,0 @@
-// Copyright (c) 2008, Willow Garage, Inc.
-// Copyright (c) 2017, Bosch Software Innovations GmbH.
-// All rights reserved.
-//
-// Redistribution and use in source and binary forms, with or without
-// modification, are permitted provided that the following conditions are met:
-//
-//    * Redistributions of source code must retain the above copyright
-//      notice, this list of conditions and the following disclaimer.
-//
-//    * Redistributions in binary form must reproduce the above copyright
-//      notice, this list of conditions and the following disclaimer in the
-//      documentation and/or other materials provided with the distribution.
-//
-//    * Neither the name of the copyright holder nor the names of its
-//      contributors may be used to endorse or promote products derived from
-//      this software without specific prior written permission.
-//
-// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-// POSSIBILITY OF SUCH DAMAGE.
-
-#include "rviz_default_plugins/displays/pointcloud/point_cloud_to_point_cloud2.hpp"
-
-#include <memory>
-
-uint32_t size(size_t value)
-{
-  return static_cast<uint32_t>(value);
-}
-
-sensor_msgs::msg::PointCloud2::ConstSharedPtr rviz_default_plugins::convertPointCloudToPointCloud2(
-  const sensor_msgs::msg::PointCloud::ConstSharedPtr input)
-{
-  auto output = std::make_shared<sensor_msgs::msg::PointCloud2>();
-  output->header = input->header;
-  output->width = size(input->points.size());
-  output->height = 1;
-  output->fields.resize(3 + input->channels.size());
-
-  // Convert x/y/z to fields
-  output->fields[0].name = "x"; output->fields[1].name = "y"; output->fields[2].name = "z";
-
-  size_t offset = 0;
-  for (size_t d = 0; d < output->fields.size(); ++d, offset += sizeof(float)) {
-    output->fields[d].offset = size(offset);
-    output->fields[d].datatype = sensor_msgs::msg::PointField::FLOAT32;
-  }
-  output->point_step = size(offset);
-  output->row_step = output->point_step * output->width;
-  // Convert the remaining of the channels to fields
-  for (size_t d = 0; d < input->channels.size(); ++d) {
-    output->fields[3 + d].name = input->channels[d].name;
-  }
-  output->data.resize(input->points.size() * output->point_step);
-  output->is_bigendian = false;
-  output->is_dense = false;
-
-  // Copy the data points
-  auto floatData = reinterpret_cast<float *>(output->data.data());
-  for (size_t cp = 0; cp < input->points.size(); ++cp) {
-    floatData[(cp * output->point_step + output->fields[0].offset) / sizeof(float)] =
-      input->points[cp].x;
-    floatData[(cp * output->point_step + output->fields[1].offset) / sizeof(float)] =
-      input->points[cp].y;
-    floatData[(cp * output->point_step + output->fields[2].offset) / sizeof(float)] =
-      input->points[cp].z;
-
-    for (size_t d = 0; d < input->channels.size(); ++d) {
-      if (input->channels[d].values.size() == input->points.size()) {
-        floatData[(cp * output->point_step + output->fields[3 + d].offset) / sizeof(float)] =
-          input->channels[d].values[cp];
-      }
-    }
-  }
-  return output;
-}
diff --git a/rviz_default_plugins/test/rviz_default_plugins/displays/camera/camera_display_visual_test.cpp b/rviz_default_plugins/test/rviz_default_plugins/displays/camera/camera_display_visual_test.cpp
index c3993dc6f..7586198fe 100644
--- a/rviz_default_plugins/test/rviz_default_plugins/displays/camera/camera_display_visual_test.cpp
+++ b/rviz_default_plugins/test/rviz_default_plugins/displays/camera/camera_display_visual_test.cpp
@@ -39,7 +39,7 @@
 #include "../../publishers/camera_info_publisher.hpp"
 #include "../../publishers/image_publisher.hpp"
 #include "../../page_objects/point_cloud_common_page_object.hpp"
-#include "../../publishers/point_cloud_publisher.hpp"
+#include "../../publishers/point_cloud2_publisher.hpp"
 
 class PointCloudDisplayPageObject
   : public PointCloudCommonPageObject
@@ -51,11 +51,11 @@ class PointCloudDisplayPageObject
 };
 
 TEST_F(VisualTestFixture, test_camera_display_with_published_image) {
-  auto points = {nodes::createPoint(0, 0, 10)};
+  // auto points = {nodes::createPoint(0, 0, 10)};
   std::vector<PublisherWithFrame> publishers = {
     PublisherWithFrame(std::make_shared<nodes::CameraInfoPublisher>(), "image"),
-    PublisherWithFrame(std::make_shared<nodes::ImagePublisher>(), "image_frame"),
-    PublisherWithFrame(std::make_shared<nodes::PointCloudPublisher>(points), "pointcloud_frame")
+    PublisherWithFrame(std::make_shared<nodes::ImagePublisher>(), "image_frame")
+    // PublisherWithFrame(std::make_shared<nodes::PointCloud2Publisher>(points), "pointcloud_frame")
   };
   auto cam_publisher = std::make_unique<VisualTestPublisher>(publishers);
 
@@ -66,11 +66,11 @@ TEST_F(VisualTestFixture, test_camera_display_with_published_image) {
   camera_display->setTopic("/image");
   camera_display->collapse();
 
-  auto pointcloud_display = addDisplay<PointCloudDisplayPageObject>();
-  pointcloud_display->setTopic("/pointcloud");
-  pointcloud_display->setStyle("Spheres");
-  pointcloud_display->setSizeMeters(11);
-  pointcloud_display->setColor(0, 0, 255);
+  // auto pointcloud_display = addDisplay<PointCloudDisplayPageObject>();
+  // pointcloud_display->setTopic("/pointcloud");
+  // pointcloud_display->setStyle("Spheres");
+  // pointcloud_display->setSizeMeters(11);
+  // pointcloud_display->setColor(0, 0, 255);
 
   captureRenderWindow(camera_display);
 
diff --git a/rviz_default_plugins/test/rviz_default_plugins/displays/pointcloud/point_cloud_display_visual_test.cpp b/rviz_default_plugins/test/rviz_default_plugins/displays/pointcloud/point_cloud_display_visual_test.cpp
deleted file mode 100644
index 3ba24beee..000000000
--- a/rviz_default_plugins/test/rviz_default_plugins/displays/pointcloud/point_cloud_display_visual_test.cpp
+++ /dev/null
@@ -1,67 +0,0 @@
-// Copyright (c) 2017, Bosch Software Innovations GmbH.
-// All rights reserved.
-//
-// Redistribution and use in source and binary forms, with or without
-// modification, are permitted provided that the following conditions are met:
-//
-//    * Redistributions of source code must retain the above copyright
-//      notice, this list of conditions and the following disclaimer.
-//
-//    * Redistributions in binary form must reproduce the above copyright
-//      notice, this list of conditions and the following disclaimer in the
-//      documentation and/or other materials provided with the distribution.
-//
-//    * Neither the name of the copyright holder nor the names of its
-//      contributors may be used to endorse or promote products derived from
-//      this software without specific prior written permission.
-//
-// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-// POSSIBILITY OF SUCH DAMAGE.
-
-#include <memory>
-#include <string>
-
-#include "rviz_visual_testing_framework/visual_test_fixture.hpp"
-#include "rviz_visual_testing_framework/visual_test_publisher.hpp"
-
-#include "../../page_objects/point_cloud_common_page_object.hpp"
-#include "../../publishers/point_cloud_publisher.hpp"
-
-class PointCloudDisplayPageObject
-  : public PointCloudCommonPageObject
-{
-public:
-  PointCloudDisplayPageObject()
-  : PointCloudCommonPageObject("PointCloud")
-  {}
-};
-
-TEST_F(VisualTestFixture, pointcloud_containing_one_big_point) {
-  auto pointcloud_publisher =
-    std::make_unique<VisualTestPublisher>(
-    std::make_shared<nodes::PointCloudPublisher>(), "pointcloud_frame");
-
-  // Set the position of the camera and its sight vector:
-  setCamPose(Ogre::Vector3(0, 0, 16));
-  setCamLookAt(Ogre::Vector3(0, 0, 0));
-
-  auto pointcloud_display = addDisplay<PointCloudDisplayPageObject>();
-  pointcloud_display->setTopic("/pointcloud");
-  pointcloud_display->setStyle("Spheres");
-  pointcloud_display->setSizeMeters(11);
-  pointcloud_display->setColor(0, 255, 0);
-  /// Take the screenshots of the desired render windows:
-  captureMainWindow();
-
-  /// Compare test screenshots with the reference ones (if in TEST mode):
-  assertScreenShotsIdentity();
-}
diff --git a/rviz_default_plugins/test/rviz_default_plugins/pointcloud_messages.cpp b/rviz_default_plugins/test/rviz_default_plugins/pointcloud_messages.cpp
index 271da8b31..e3fb67c97 100644
--- a/rviz_default_plugins/test/rviz_default_plugins/pointcloud_messages.cpp
+++ b/rviz_default_plugins/test/rviz_default_plugins/pointcloud_messages.cpp
@@ -214,35 +214,10 @@ sensor_msgs::msg::PointCloud2::ConstSharedPtr create8BitColoredPointCloud2(
   return cloud;
 }
 
-sensor_msgs::msg::PointCloud::ConstSharedPtr createPointCloudWithPoints(std::vector<Point> points)
-{
-  auto message = sensor_msgs::msg::PointCloud();
-  message.header = std_msgs::msg::Header();
-  message.header.stamp = rclcpp::Clock().now();
-  message.header.frame_id = "base_link";
-
-  std::vector<geometry_msgs::msg::Point32> points32;
-  for (auto const & point : points) {
-    geometry_msgs::msg::Point32 p;
-    p.x = point.x;
-    p.y = point.y;
-    p.z = point.z;
-    message.points.push_back(p);
-  }
-
-  return std::make_shared<sensor_msgs::msg::PointCloud>(message);
-}
-
 static std::vector<Point> points = {{1, 1, 1}, {-1, -1, 1}, {-1, 1, 1}, {1, -1, 1}};
 
 sensor_msgs::msg::PointCloud2::ConstSharedPtr createPointCloud2WithSquare()
 {
   return createPointCloud2WithPoints(points);
 }
-
-sensor_msgs::msg::PointCloud::ConstSharedPtr createPointCloudWithSquare()
-{
-  return createPointCloudWithPoints(points);
-}
-
 }  // namespace rviz_default_plugins
diff --git a/rviz_default_plugins/test/rviz_default_plugins/pointcloud_messages.hpp b/rviz_default_plugins/test/rviz_default_plugins/pointcloud_messages.hpp
index b02280d58..634226ebc 100644
--- a/rviz_default_plugins/test/rviz_default_plugins/pointcloud_messages.hpp
+++ b/rviz_default_plugins/test/rviz_default_plugins/pointcloud_messages.hpp
@@ -61,9 +61,6 @@ struct ColoredPoint : Point
   : Point(x, y, z), r(r), g(g), b(b) {}
 };
 
-sensor_msgs::msg::PointCloud::ConstSharedPtr createPointCloudWithSquare();
-sensor_msgs::msg::PointCloud::ConstSharedPtr createPointCloudWithPoints(std::vector<Point> points);
-
 sensor_msgs::msg::PointCloud2::ConstSharedPtr createPointCloud2WithSquare();
 sensor_msgs::msg::PointCloud2::SharedPtr createPointCloud2WithPoints(
   const std::vector<Point> & points);
diff --git a/rviz_default_plugins/test/rviz_default_plugins/publishers/point_cloud_publisher.hpp b/rviz_default_plugins/test/rviz_default_plugins/publishers/point_cloud_publisher.hpp
deleted file mode 100644
index e7e658d2d..000000000
--- a/rviz_default_plugins/test/rviz_default_plugins/publishers/point_cloud_publisher.hpp
+++ /dev/null
@@ -1,90 +0,0 @@
-// Copyright (c) 2018, Bosch Software Innovations GmbH.
-// All rights reserved.
-//
-// Redistribution and use in source and binary forms, with or without
-// modification, are permitted provided that the following conditions are met:
-//
-//    * Redistributions of source code must retain the above copyright
-//      notice, this list of conditions and the following disclaimer.
-//
-//    * Redistributions in binary form must reproduce the above copyright
-//      notice, this list of conditions and the following disclaimer in the
-//      documentation and/or other materials provided with the distribution.
-//
-//    * Neither the name of the copyright holder nor the names of its
-//      contributors may be used to endorse or promote products derived from
-//      this software without specific prior written permission.
-//
-// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-// POSSIBILITY OF SUCH DAMAGE.
-
-#ifndef RVIZ_DEFAULT_PLUGINS__PUBLISHERS__POINT_CLOUD_PUBLISHER_HPP_
-#define RVIZ_DEFAULT_PLUGINS__PUBLISHERS__POINT_CLOUD_PUBLISHER_HPP_
-
-#include <string>
-#include <vector>
-
-#include "geometry_msgs/msg/transform_stamped.hpp"
-#include "tf2/LinearMath/Quaternion.h"
-#include "rclcpp/rclcpp.hpp"
-#include "std_msgs/msg/header.hpp"
-#include "sensor_msgs/msg/point_cloud.hpp"
-
-using namespace std::chrono_literals;  // NOLINT
-
-namespace nodes
-{
-
-geometry_msgs::msg::Point32 createPoint(float x, float y, float z)
-{
-  geometry_msgs::msg::Point32 point;
-  point.x = x;
-  point.y = y;
-  point.z = z;
-
-  return point;
-}
-
-class PointCloudPublisher : public rclcpp::Node
-{
-public:
-  explicit PointCloudPublisher(
-    std::vector<geometry_msgs::msg::Point32> points = {createPoint(0, 0, 0)})
-  : Node("pointcloud_publisher"),
-    timer_(nullptr),
-    publisher_(nullptr),
-    points_(points)
-  {
-    publisher_ = this->create_publisher<sensor_msgs::msg::PointCloud>("pointcloud", 10);
-    timer_ = this->create_wall_timer(500ms, std::bind(&PointCloudPublisher::timer_callback, this));
-  }
-
-private:
-  void timer_callback()
-  {
-    auto message = sensor_msgs::msg::PointCloud();
-    message.header = std_msgs::msg::Header();
-    message.header.frame_id = "pointcloud_frame";
-    message.header.stamp = rclcpp::Clock().now();
-    message.points = points_;
-
-    publisher_->publish(message);
-  }
-
-  rclcpp::TimerBase::SharedPtr timer_;
-  rclcpp::Publisher<sensor_msgs::msg::PointCloud>::SharedPtr publisher_;
-  std::vector<geometry_msgs::msg::Point32> points_;
-};
-
-}  // namespace nodes
-
-#endif  // RVIZ_DEFAULT_PLUGINS__PUBLISHERS__POINT_CLOUD_PUBLISHER_HPP_