Using ROS PointCloud2 as input for the Occupancy Grid sample program

Is there a way to make the DriveWorks Occupancy Grid sample receive ROS PointCloud2 and tf as inputs instead of direct/virtual Lidar/CAN sensor? I am currently kind of stuck because DriveWork’s point cloud format is different from ROS’ PointCloud2 format and I don’t really know where to start to map the inputs. Is there a way to bridge this difference? And how do I stop the program from using video time stamp as the master clock to sync everything?