Viewing multiple velodyne .pcap files via octomap in rviz

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Hi everyone,

I have multiple .pcap files from a VLP-16 velodyne that I want to be able to view in Rviz. The velodyne is in a static position but is placed in different locations (which I know) for different files, so I would also like to be able to tf transform them before loading them into rviz. I am able to do all this with one .pcap file but I am lost on how to do this for multiple files, is this even possible? Or should I try merging the pcap files together into one pcap file beforehand.

Thanks for your help.