Hello,

Background

I'm had adapted my TurtleBot3 with a Sick microScan Pro. The communication is well. I am able to visualize all the point clouds in RViz.

The Problem

The scanner is facing the wrong side in RViz. His front is printed at its left, the left at its back.. A 90 degree offset .

Observations

• ROS Kinetic
• Ubuntu 16.04 (Raspberry Pi3 + OpenCR)
• Scanner Sick microScan Pro
• Scanner Package - Sick_safetyscanners
• Robot is Server, RViz is running in a Client (Ubuntu 16.04)
• Robot Launch
  1. roscore
  2. roslaunch turtlebot3bringup turtlebotcore.launch
  3. roslaunch sicksafetyscanners sicksafetyscanners.launch
  4. roslaunch topictools relay sicksafetyscanners/scan /scan
  5. roslaunch roslaunch turtlebot3slam turtlebot3slam.launch slam_methods:=gmapping