Avoidance with non-supported camera

I am trying to run PX4 Obstacle Avoidance using the voxl TOF depth sensor. On the README for the avoidance repo, it says “Both planners require a 3D point cloud of type sensor_msgs::PointCloud2. Any camera that can provide such data is compatible.” However, I have had a really hard time (impossible time) figuring out how to configure the code to run with a different sensor. It seems like the RealSense and Occipital camera configs are hard-coded, and there’s no easy way to get around that. I have tried making a node that would publish voxl_point_cloud topic data to the /point_cloud topic that PX4 uses, but it hasn’t really worked. Does anyone know how to do this?