How to use SLAM with titled LiDAR

I want to implement SLAM algorithm in my robot. While launching gmapping, I received the following message:

Laser has to be mounted planar! Z-coordinate has to be 1 or -1, but gave: -0.07365

The problem is fully understandable for me. Unfortunately, that’s a requirement of another process why LiDAR is titled downside.

The question is whether it is possible theoretically to use LiDAR mounted this way to SLAM? And after that, how could I adjust the package to this case?

I’d be very thankful for any advice or suggestions :v:t3: