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That's a bit of an esoteric need, so you'll probably have to write your own node to make the transform.

The simplest approach would be to use the tools in laser_geometry to make the initial transform from laserscan to pointcloud. Then iterate through each point in the cloud and 'extrude' it by adding additional points with different z values, with whatever your required density is.

That's a bit of an esoteric need, so you'll probably have to write your own node to make the transform.conversion.

The simplest approach would be to use the tools in laser_geometry to make initially convert the initial transform from laserscan to into a pointcloud. Then iterate through each point in the cloud and 'extrude' it by adding additional points with different z values, with whatever your required density is.