Hi, I'm new to ROS, my issue is that I want to convert pointcloud2 data to laser scan, so I can generate a map using Hector SLAM. I've tried using the ROS package pointcloudtolaserscan but i've had no luck. The point cloud data that i have is not from a kinect instead i have an ultrasonic sensor that publishes range data, hence i get pointcloud data. I'm using ROS and V-REP, so the data is published from V-REP. Can guide me what I should do?

Thanks in advance