Is there some tips about how to write one script to feed my Robosense point cloud?

I mean how can i write one script, and then inputting my .bin file, in which includes binary data or original point cloud(x,y,z,intensity) to the model.
Is there any tips, how can i handle this repository, where can i start?
Also even could I use original point cloud from Robosense in ROS as input to feed the model?
thanks.