Output data format for R2A

Is the output format of data received from R2A open or somehow closed in a proprietary format? We would like to have an option to process the data from Lidar and INS using our own toolchain based on SLAM under the ROS system. Are the receiving data convertible in such an open format?

The data from the R2A is processed in PCMaster and PCPainter into a colorized LAS. SLAM processing is a separate procedure that we will detail more soon.