I'm using a Velodyne sensor which publishes on `/velodyne_points`, and Its class type is `PointCloud2`.
Now I want to convert `PointCloud2` message into a grid space (cylindrical) instead of spherical space. Actually, I want to maps Velodyne points (3D) to a grid (2D) with a const resolution, which each grid cell has a range. Also, this grid's height is const too.
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