From 72e65b358afb40596f7f2b9df5a3a4539cc2ba2f Mon Sep 17 00:00:00 2001
From: Dehann Fourie <6412556+dehann@users.noreply.github.com>
Date: Wed, 23 Nov 2022 17:17:52 -0800
Subject: [PATCH] Update using_ros.md

---
 docs/src/examples/using_ros.md | 12 +++++++++++-
 1 file changed, 11 insertions(+), 1 deletion(-)

diff --git a/docs/src/examples/using_ros.md b/docs/src/examples/using_ros.md
index 4e286d371..d78d3baa6 100644
--- a/docs/src/examples/using_ros.md
+++ b/docs/src/examples/using_ros.md
@@ -55,11 +55,12 @@ Caesar.jl has native by optional package tools relating to RobotOS.jl (leveragin
 ```julia
 using RobotOS
 
+@rosimport std_msgs.msg: Header
 @rosimport sensor_msgs.msg: PointCloud2
 
 rostypegen()
 
-using Colors, Caesar
+using Caesar
 Distributed.@everywhere using Colors, Caesar
 ```
 
@@ -152,6 +153,15 @@ This has been tested and use with much more complicated types such as the [`Caes
 
 ## Additional Notes
 
+### ROS Conversions, e.g. PCL
+
+By loading RobotOS.jl, the Caesar module will also load additional functionality to convert some of the basic data types between ROS and PCL familiar types, for example `PCLPointCloud2`:
+```julia
+wPC  = Caesar._PCL.PointCloud()
+wPC2 = Caesar._PCL.PCLPointCloud2(wPC)
+rmsg = Caesar._PCL.toROSPointCloud2(wPC2);
+```
+
 ### More Tools for Real-Time
 
 See tools such as