# How to generate a Pointcloud2

I have Sonar Sensors on my robot. These are publishing Data as Range (in Rviz).

Here a little snippet of the rostopic echo:

header:
seq: 11550
stamp:
secs: 1155
nsecs: 100000000
field_of_view: 0.349065989256
min_range: 0.119999997318
max_range: 5.0
range: 1.43013095856


I have 16 of these sonars. I want to have only one Pointcloud2 to be published. Have anyone an idea how to make it. I'm not realy familar with these.

Another litte question: My Sonar has a max_range of 5 Meters but the maximum range I get ist roound about 1.4 m. Even if there is nothing Around.