How to publish standard sensor_msgs/PointCloud2 using the provide bags?

[YZH-bot]

Hi, thanks for your sharing the dataset. I've checked the repository at https://github.com/ntnu-arl/ouster-ros/tree/dev/sensor_sync_replay and issue#1, but it's still not quite clear how to publish sensor_msgs/PointCloud2. Could you provide some instructions? Thanks very much！