Visualization of a self-made LaserScanMsg in Rviz

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Dear all,

I have a problem when visualizing a LaserScanMsg that I defined on my own. What I basically did:

I defined the LaserScanMsg as defined in the documentation and put the \sensor_origin in the header In order to visualize the LaserScan in RVIZ I also wrote a launch file including a static_transform_publisher that includes a static transform (1 0 0 0 0 0) between \map and \sensor origin.

I then publish a LaserScan that I can perfectly echo and that includes the data I want.

The problem now is: In order to get the right visualization in RVIZ I have to change the static transform in such a way that I set the roll angle to pi. If I do not do this, the LaserScan visualized by RVIZ is flipped.

When I th