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I'm using a Velodyne sensor which publishes on /velodyne_points topic, and its class type is PointCloud2.

Now I want to convert PointCloud2 message into a grid space (cylindrical) instead of spherical space. In other words, I want to maps/project Velodyne points (3D) to a grid/panoramic-view (2D) with a const resolution, which each grid cell has a range. Also, this grid's height is const too.

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What you're looking for is a coordinate transformation. You could make a node that takes in a pointcloud2 message and outputs a message with the data in a cylindrical format.

This website has a thorough overview of what's needed: https://math.libretexts.org/Bookshelves/Calculus/Book%3A_Calculus_(OpenStax)/12%3A_Vectors_in_Space/12.7%3A_Cylindrical_and_Spherical_Coordinates

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