conversion of Hokuyo LaserScan to PointCloud2 format

[nikitaporje]

Thank you sir @daobilige-su for your great project, its working well with given dataset. Now i can create the 3D point cloud using hokuyo lidar.But i have some concern about it.
When we use the hokuyo lidar it store data in LaserScan format in Ros so in your example file you use the PointCloud format . Can you please guide me how to do the conversion and how to store data like that for further processing.
Thank you .