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ROS2 有没有那种通过三维激光雷达点云数据对一个封闭圆形管道进行建模的功能包，因为我需要在管道内壁实现螺旋线爬行之类的运动，关于运动控制部分有没有类似二维地图move_base那种导航功能包呢，或者对于实现管道内部螺旋线爬行任务有什么合适的解决方法吗