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Here's the link of the same question already been asked here. You'll find a thoughful answer. Personnally, I'm working on wetting up the Cartographer tool. I have a 3D Ouster 64.

https://answers.ros.org/question/243208/creating-a-3d-map-with-velodyne-data/

Here's the link of the same question already been asked here. You'll find a thoughful answer. Personnally, I'm working on wetting setting up the Cartographer tool. I have a 3D Ouster 64.

https://answers.ros.org/question/243208/creating-a-3d-map-with-velodyne-data/