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If your are using gazebo plugin for kinect, then there won't be any /tf for depth- and optical-frames as children, which can lead to confusing situation. If you are using gazebo, then refer to this issue https://answers.gazebosim.org/question/4266/gazebo-15-libgazebo_openni_kinectso-pointcloud-data-is-rotated-and-flipped/?answer=24822#post-id-24822

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