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I am doing something similar, building 3D maps using a 2D lidar. I would use a different method to get the altitute, such as a sonar, IR, or point laser range finder. They will be more accurate than integrating imu data. For mine I have a node that takes in ultrasonic sensor data and published the transform between base_footprint (the space underneath where my prototype is) and base_stabilized (where my prototype actually should be). It is generally considered good practice to build your own nodes/packages rather than modifying existing ones.