Merging with Velodyne VLP-16 on ROS2

Hi. I'm a student interesting in autonomous driving
Out team is currently building autonomous vehicle based on erp42 and we have 2 LiDAR(VLP16, Livox) 
Each LiDAR works correctly but how can I visualize and sent data simultaneously on same node? 
is there any repo that handling this situation? 
It'll be greatly helpful if anyone can suggest me. 
Thanks.