# Revision history [back]

I think pointcloud_to_laserscan is the usual solution for reducing 3D point cloud data for 2D mapping applications.

I've seen papers describing more elaborate schemes, depending on your environment and requirements.

Beware that the Velodyne does not see things nearer than 90cm away.

I think pointcloud_to_laserscan is the usual solution for reducing 3D point cloud data for 2D mapping applications.

I've seen papers describing more elaborate schemes, depending on your environment and requirements.

Beware that the Velodyne does not see things nearer than 90cm away.away. See this discussion.