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How to use 2D Lidar to finish 3D SLAM

I'm a beginner. I want to use 2D Lidar to finish 3D SLAM! Generally, we lay the 2D Lidar on a car. Now I want to place the 2D Lidar on its side so it can scan vertical plane instead of horizontal plane. But I didn't find 3D SLAM package.I realized that slam_gmapping can only build 2D map. What should I do? Using octomap?