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Since your question is a little broad, I will make the assumption you already know how 2D lidar works, if you want to understand how this is done in code to convert into a map, I suggest you review the velodyne repo: https://github.com/ros-drivers/velodyne

In there you will see how this is done, take a look at to start with and work your way how this is converted into an image data:

https://github.com/ros-drivers/velodyne/blob/master/velodyne_driver/src/driver/driver.cc https://github.com/ros-drivers/velodyne/blob/master/velodyne_laserscan/src/velodyne_laserscan.cpp