Use ira_laser_tools to fuse the rplidar A2 and Kinect laser scan,but the output of the merger is only kinect's data.

edit

I have a rpidar A2 and a Kinect camera,i use the ira_laser_tools to fuse the laser scan from the rplidar and kinect ,then use the merge data to bulid a 2d grid map by gmapping.But when i used the rviz to look the topic /scan_multi,which is the output of laserscan_multi_merger,has only a laser scan data.

i use roslaunch kinect_rpldiar_gmapping_demo.launch to rosrun rplidar node and kinect node :

<launch>
      <!-- 3D sensor -->
      <arg name="3d_sensor" default="kinect"/>
      <include file="$(find turtlebot_bringup)/launch/3dsensor.launch"/>
      <!-- laser driver -->
      <arg name="laser_type" default="rplidar" />
      <include file="$(find rplidar_ros)/launch/$(arg laser_type).launch" />
      <!-- Gmapping -->
      <arg name="custom_gmapping_launch_file" default="$(find turtlebot_navigation)/launch/includes/gmapping/rplidar_kinect_gmapping.launch.xml"/>
      <include file="$(arg custom_gmapping_launch_file)"/>
      <!-- Move base -->
      <include file="$(find turtlebot_navigation)/launch/includes/move_base.launch.xml"/>
      <node name="rviz" pkg="rviz" type="rviz" args="-d $(find turtlebot_rviz_launchers)/rviz/navigation.rviz"/>

</launch>

and then roslaunh ira_laser_merge.lauch is following:

<launch>

    <node pkg="ira_laser_tools" name="laserscan_multi_merger" type="laserscan_multi_merger" output="screen">
    <param name="destination_frame" value="/base_link"/>
    <param name="cloud_destination_topic" value="/merged_cloud"/>
    <param name="scan_destination_topic" value="/scan_multi"/>
    <param name="laserscan_topics" value ="/scan_kinect /scan_laser" /> 
</node>

</launch>

the nodelaserscan_multi_merger,it said,

Error:"[pcl::concatenatePointCloud] Number of fields in cloud1 (4) !=Number of fields in cloud2(5)".

cloud1 is kinect's fake laser scan;cloud2 is rplidar's laser scan.

Then i see the part-code about the pcl::concatenatePointcloud ,which is the error comes from.(The all code is https://docs.ros.org/api/pcl_conversi... )

 if (!strip && cloud1.fields.size () != cloud2.fields.size ())
 {
   PCL_ERROR ("[pcl::concatenatePointCloud] Number of fields in cloud1 (%u) != Number of fields in cloud2 (%u)\n", cloud1.fields.size (), cloud2.fields.size ());
   return (false);
 }

So,what's the cloud.field? meaning the kind of pointcloud?
i want to know about it .because when i look the /scan_multi laserscan by using rviz,there is only one data from /scan_kinect.i guess ,is the question related to the abouve error?