Mirroring PointCloud data as laserScan data

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Hello, Using the depthimage_to_laserscan package, I can convert pointcloud data from the depth camera into laser data and display them in the rviz environment. In the same way, I can create a costmap. But pointcloud data doesn't show obstacles higher than the robot's own size as a costmap. Like lidar data, it only takes into account its own axes. And when that happens, my robot crashes into that object. Is there a way to set this in the package I'm using? I want it to take the minimum value from the Z axis and return it and reflect it as laser data. Or do I have to write code myself? Thank you.

ROS: Noetic System: Ubuntu 20.04