match_clouds service from matcher_service node usage for 2D

[artemiialessandrini]

I'm not clear what this service could be used for, but based on wiki description:

This service takes two sensor_msgs/PointCloud2 messages as inputs (the first is the reference and the second the reading) and provides a geometry_msgs/Transform message as output.

I'm trying to accomplish an extrinsic calibration for two 2D Laser Scanners, which are perpendicularly mounted on AGV.

Since two Lidars are having intersection areas, thus it could be used for ICP based calibration,
My current idea is the following:

1. Getting rid of unnecessary laser scan data areas, leaving only intersections;
2. Decrease Lidars range to relatively small(4-5 m ), to collect a better data;
3. Transform LaserScan into PointCloud2 type;
4. Input initial_guess from current tf transform, thanks to Providing Initial Guess to matcher_service node #16;

So, now I have two PointCloud2 clouds: front (orange) and rear (blue).
Would this service be helpful? I'm open for any tips, suggestions regarding automatic calibration tool.