pointcloud_to_laserscan rotation of scan line

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I am running pointcloud_to_laserscan . When I display the pointcloud2 in rviz after rotation the camera frame is displays correctly along the rviz ground plane. However the laser from pointcloud_to_laserscan produces a scan line that does not register to the cloud2 in rviz .

from rostopic list

/camera_info
/clicked_point
/clock
/cmd_vel
/depth/image_raw
/depth/points
/gazebo/link_states
/gazebo/model_states
/gazebo/parameter_descriptions
/gazebo/parameter_updates
/gazebo/set_link_state
/gazebo/set_model_state
/gmapping_node/entropy
/image_raw
/image_raw/compressed
/image_raw/compressed/parameter_descriptions
/image_raw/compressed/parameter_updates
/image_raw/compressedDepth
/image_raw/compressedDepth/parameter_descriptions
/image_raw/compressedDepth/parameter_updates
/image_raw/theora
/image_raw/theora/parameter_descriptions
/image_raw/theora/parameter_updates


 self.msgAry  = [self.createStaticTransform("base_footprint",  0,  0,  0.1,  "base_link", 0, 0, 0),   \
                 self.createStaticTransform("base_link",  -0.13,  -0.13,  0.1,  "left_wheel", 0, 0, 0),   \
                 self.createStaticTransform("base_link",  -0.13,  0.13,  0.1,  "right_wheel", 0, 0, 0),   \
                 self.createStaticTransform("base_link",  -0.1,  0,  0.1,  "tower_link", 0, 0, 0),   \
                 self.createStaticTransform("tower_link", 0.0,  0,  0.2,  "camera_link", 0, 0, 0),  \
                 self.createStaticTransform("camera_link", 0,  0,  0,  "camera_frame_optical", 0, 0, 0),  \
                 self.createStaticTransform("camera_link", 0, 0,  0,  "rrbot/camera_frame",  -1.57079633,  0,  -1.57079633)]  

 self.pub_tf.publish(self.msgAry)




  <!-- ******************************************************************************************** -->

  <node name="pointcloud_to_laserscan_node" pkg="pointcloud_to_laserscan" type="pointcloud_to_laserscan_node"  output="screen" respawn="true">
      <remap from="cloud_in" to="/depth/points"/>
      <rosparam>
            target_frame: "camera_frame_optical"
            tolerance: 0.01
            min_height: 1.0
            max_height: 10.0

            angle_min: -1.5708 # -M_PI/2
            angle_max: 1.5708 # M_PI/2
            angle_increment: 0.00436717644334
            scan_time: 0.3333
            range_min: 0.1
            range_max: 30.0
            use_inf: false

            # Concurrency level, affects number of pointclouds queued for processing and number of threads used
            # 0 : Detect number of cores
            # 1 : Single threaded
            # 2->inf : Parallelism level
            concurrency_level: 0
       </rosparam>
  </node>

eg: of scan output

header: 
  seq: 530
  stamp: 
    secs: 435
    nsecs: 155000000
  frame_id: rrbot/camera_frame
angle_min: -1.57079994678
angle_max: 1.57079994678
angle_increment: 0.00436717644334
time_increment: 0.0
scan_time: 0.333299994469
range_min: 0.10000000149
range_max: 30.0
ranges: [31.0, 31.0, 31.0, 31.0, 31.0, 31.0, 31.0, 31.0, 31.0, 31.0, 31.0, 31.0, 31.0, 31.0, 31.0, 31.0, 31.0, 31.0, 31.0, 31.0, 31.0, 31.0, 31.0, 31.0, 31.0, 31.0, 31.0, 31.0, 31.0, 31.0, 31.0, 31.0, 31.0, 31.0, 31.0, 31.0, 31.0, 31.0, 31.0, 31.0, 31.0, 31.0, 31.0, 31.0, 31.0, 31.0, 31.0, 31.0, 31.0, 31.0, 31.0, 31.0, 31.0, 31.0, 31.0, 31.0, 31.0, 31.0, 31.0, 31.0, 31.0, 31.0, 31.0, 31.0, 31.0, 31.0, 31.0, 31.0, 31.0, 31.0, 31.0, 31.0, 31.0, 31.0, 31.0, 31.0, 31.0, 31.0, 31.0, 31.0, 31.0, 31.0, 31.0, 31.0, 31.0, 31.0, 31.0, 31.0, 31.0, 31.0, 31.0, 31.0, 31.0, 31.0, 31.0, 31.0, 31.0, 31.0, 31 ...