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If the Z-coord needs to be 1 or negative 1, have you tried setting it to be 1 or negative 1?

Most camera publishers add additional frames (the optical frames) so that the axes align with the camera lens. This means z-axis out the front of the camera, x positive right, and y positive down (the upper-left corner of the screen is 0,0). This is true for depth cameras such as the Kinect, and I'd image that it's the same for your laser scanner.