Use 2D/3D lazer scaner to creat 3D pointcloud map

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Hallo

I have a robot with two 2D laser (one for SLAM another for poincloud map). I can find the position of robot by Odom parameter, and I use a 2D lazer scaner and move or turn It, then I save the data of mesure and transform them into map coordinate Frames. At last, I can use the data transformed to creat a 3D pointcloud map. So I'm trying to find a package who can save the sensor_msgs/LaserScan massage and creat a 3D pointcloud map.

THX