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I found the issue. You will get a rotated or transformed set of scan points if angle_min and angle_max are incorrect in your published laser_scan. I had in psuedocode:

scan.angle_min = -270 scan.angle_max = 270

where I needed to have and meant to have:

scan.angle_min = -270/2 scan.angle_max = 270/2

Silly mistake.