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I believe you just need to change either:

  • the min_height and max_height parameters to change the range of points from the cloud that are converted into the scan, or
  • the target_frame parameter to change from whatever the default frame (e.g. lidar_frame) to the frame you're interested in (e.g. base_link)

I believe you just need to change either: have two options:

  • the min_height and max_height parameters to change the range of points from the cloud that are converted into the scan, or
  • the target_frame parameter to change from whatever the default frame (e.g. lidar_frame) to the frame you're interested in (e.g. base_link)

The latter is probably the more appropriate solution, but its worth being aware of the min and max height parameters as well