# Frame Transformation using Laser_Geometry package

Hi,

I am just wondering if it is possible to use the laser_geometry package for a fixed-tilt RPLidar A2 2D sensor? If I tilt it at a fixed angle (30deg) , is there a way to project that tilted laser scan vertically downwards to the world frame? I am trying to achieve something like this video: https://www.youtube.com/watch?v=jHsdw... . I tried using the laser_ortho_projector package but it doesn't seem to work, so I am trying out laser_geometry to see if it allows me to do it too. I do not have an imu.