3D point cloud

edit

pcl_assembler_client.py

 #!/usr/bin/env python
import rospy
from laser_assembler.srv import AssembleScans2
from sensor_msgs.msg import PointCloud2

rospy.init_node("assemble_scans_to_cloud")
rospy.wait_for_service("assemble_scans2")
assemble_scans=rospy.ServiceProxy('assemble_scans2',AssembleScans2)
pub=rospy.Publisher("/point_Cloud",PointCloud2,queue_size=2)
r=rospy.Rate(10)
while True:
        try:
                resp=assemble_scans(rospy.Time(0,0),rospy.get_rostime())
                print "Got cloud with %u points" % len(resp.cloud.data)
                pub.publish(resp.cloud)
        except rospy.ServiceException, e:
                print "service call failed: %s" %e
        r.sleep()

scan_to_pcl.py

#!/usr/bin/env python

import rospy
from sensor_msgs.msg import PointCloud2 as pc2
from sensor_msgs.msg import LaserScan
from laser_geometry import LaserProjection

class Laser2PC():
        def __init__(self):
                self.laserProj=LaserProjection()
                self.pcPub=rospy.Publisher("/laserPointCloud",pc2,queue_size=1)
                self.laserSub=rospy.Subscriber("/scan",LaserScan,self.laserCallback)

        def laserCallback(self,data):
                cloud_out=self.laserProj.projectLaser(data)
                self.pcPub.publish(cloud_out)
if __name__=='__main__':
        rospy.init_node("scan_to_pcl")
        l2pc=Laser2PC()
        rospy.spin()

my launch file is,

<launch>

<node name="scan_to_pcl" pkg="cloud_data" type="scan_to_pcl.py"/>

<node type="point_cloud2_assembler" pkg="laser_assembler"  name="pcl_assembler_server">
<remap from="cloud" to="laserPointCloud"/>
<param name="max_clouds" type="int" value="400" />
<param name="fixed_frame" type="string" value="base_link" />
</node>


<node name="pcl_assembler_client" pkg="cloud_data" type="pcl_assembler_client.py" output="screen"/>

</launch>

These is code i'm using to generate point cloud data using the laser_assembler package but it is not extruded along the third axis i.e it is not 3D. Can someone help me out on how to achieve 3D cloud.