Hokuyo laser transform

edit

Hi guys,

I am thinking to make the side where hokuyo laser front scan become y instead of the default x. With respect to rviz where pointing upward is positive y axis pointing right is positive x axis.

I have tried to do a transform:

<node pkg="tf" type="static_transform_publisher" name="base_link_to_laser" 
    args="0.0 0.0 0.0 1.571 0.0 0.0 /base_link /laser 40" />

But I realized that it just happened to rotate the laserscan facing towards positive y axis but laser pose arrow is still pointing at positive x axis. This causes a problem when I wanted to re-position my robot location. The 2D initial pose direction is still refering to the x axis of hokuyo laser even though my front scan is facing positive y axis right now. Eg: I want my robot to face downward(negative y axis), but the laser is counter clockwise 90 degree off from my desired direction.