My modus operandi 😂
Taking my own decisions is so scary.
In the wise words of Tsunami Bomb, Independence doesn't start when you leave home!

The best and worst thing about research

I can suggest koide3 (hdl_graph_slam) for 3D Lidar slam. Pretty easy to set up and get running in ros. I used it with a Velodyne HDL 64 and even loop closure was easily possible after some tweaking. But I guess in the meantime there are many more good slam implementations as I used it 3 years ago.

@Crowns We have 2D lidars. We will integrate VO from the intel T256. For the 3D map building I guess we will also add a RGB-D camera....