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?

Hey any progress on using TOF depth sensor? I’m thinking about getting the flexx 2 depht camera (pmd flexx2 3D Camera Development Kit – pmdtechnologies ag) but I’m not sure how to make it work.