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Your getting this problem because pointcloud_to_laserscan is using your RGB-D cameras frame of reference instead of a leveled one which compensates for it's angle.

You can use the ~target_frame parameter to reference a different TF frame which can fix this.

You'll need to use a static_transform_publisher to add a new frame to your robot with the z axis facing horizontally away from the base and y axis pointing down. Then set the ~target_frame parameter to this new frame.

Hope this helps.