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There is no need to reinvent the wheel. Please read page # 18 of the user manual. I am attaching it below for reference:

The package CygLiDAR-ROS/cyglidar_d1 is designed to visualize the 2D/3D distance dataset in real time. This is exactly what you are trying to achieve. Feel free to look at the source code for more details.
Undoubtedly, PointCloud2 supports 3D. I think this is what a point cloud is designed for!

PS: Given the explanation in the question, I strongly recommend going through ROS/Tutorials. These tutorials are easy to understand and are worth spending time, please!

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