Publishing point clouds from generic range sensor

Hi all, is there anyway to publish point cloud data to ROS2 from a generic range sensor using a custom scanning pattern? Thank you!

The ROS2 PointCloud2 message type supports the specification of arbitrary PointFields that can be used to represent relevant information about your custom scanning pattern. There has been some previous discussion for supporting other kinds of range sensors like the Velodyne VLP-16. You might consider making a post on the general ROS Discourse forum for your own sensor.