Better way to perform navigation tasks and LiDAR orientation with Mid360

[effibot]

Hi, first of all, I would thank you for your work. I was able to make a map using a mid360, but I would like to ask two questions.

1. For my use-case, I have to use two lidars (two mid360), orienting the sensor to face the ground. Basically, I need to invert the Z-axis. I have to make some changes to the code, or to some configuration, to perform a correct mapping?
2. As for navigation, grounded in my case, could you suggest a way to perform path-planning and obstacle avoidance missions? In my previous projects I always used NAV2, but it requires a 2D map in order to produce a costmap. I thought to use some pointcloud-to-laserscan methods and then pass it through a classic 2D-Slam algorithm, but I would like to use the full-potential of this 3D sensor.

Thanks for your help.