set custom name for fields of point cloud data

[kargarisaac]

Hello,
I converted the kitti data to bag file using kitti2bag. When I want to use it in ros and using the following command:
pcl::PointCloudpcl::PointXYZI::Ptr current_sensor_cloud_ptr(new pcl::PointCloudpcl::PointXYZI);
pcl::fromROSMsg(in_sensor_cloud, *current_sensor_cloud_ptr);

it says that "Failed to find match for field 'intensity'.".
When I print names of filed of point cloud data I see that the third filed name is "i". how can I change the name or set the name manually to "intensity"?

[lucasjinreal]

@kargarisaac Seems this package does not solve the intensity feild which is very useful to build point cloud recognition features.