colored_pointcloud package
Install: cd to the src folder of a ros workspace, git clone this package and catkin_make this workspace.
Preparation: calibrate your camera, and your lidar-camera system, then write the intrinsic matrix, distortion coefficients and the extrinsic matrix to config/calib_result.yaml, finally change the camera_topic and lidar_topic to fit your own system.
Usage: roslaunch colored_pointcloud colored_pointcloud161.launch