Avoidance with LiDAR instead of Cameras


I cloned the Avoidance repo from Github and i can work with it no problem. In the code the cameras are used to get point cloud data for avoidance ROS node.
Now I am trying to run the avoidance code with LiDAR.

I created a new ROS package with a launch file which starts the code with iris_opt_flow model. It has 4 distance sensor but i can get data only from 2 sensor. That is ok for me.

The real problem is: I can not run the avoidance node without point cloud data. Because these sensors are not publishing me point cloud data. They are publishing only distance.

Is there a way to work with LiDAR or LiDARs with avoidance code?