could this package be used in lidar points (PointCloud2)?

[weisongwen]

Hi, Thanks for your excellent work in 6d_localization.

I am doing 6d localization for a robot using velodyne64 lidar, I want to localize the robot in the octomap. does your package support the PointCloud2 topic from Velodyne64 lidar?

I send a questionhere as well question

Thanks!