Problem with ydlidar and conversion LaserScan -> PointCloud

edit

but 1/4 of the lidar seems to be not working in my cpp program

Can you be more explicit about what isn't working ? You don't get anything printed ? The calculations are wrong ? You have 1/4 of the data missing ?

Yes so the calcul is wrong like for 1/4 the points given in the cpp are (0,0,0) for the all quarter but the rest is fine, but the rviz visualisation is normal for the topic that is repost (i take scan and change to PointCloud then publish it to cloud)

Can you edit your question to add the code that is producing your ouput ? We can't tell which file you are using (is it ydlidar_test_v2.cpp ?).

The common part between your files is that you print data under the condition that the range is under 0.5 meters, are all your obstacles closer than 50 cm from your lidar ?

yes i'm using the v2, i wanted to focus on specific distance so it didn't spam the console

And if you check the data with rostopic echo /scan, are there some points at range 0.0 ?

Yes i think there are some in the scan but in the cloud they aren't

Maybe the convert part is wrong i don't know, maybe the lidar as problems but that would be strange because on rviz i have 360°

Can you remove the range condition so that we can see all the laser scan data in your log file please ?

Also, what is your lidar resolution ? It seems odd that your variable count returns 606, it's generally 360 or 720 :

int count = scan->scan_time / scan->time_increment;

Maybe there is an internal conversion that creates an issue here, or your variables are wrong. But then I would be surprised that scan->ranges[i] doesn't print an error if index is wrong. Can you also add the value of time_increment, scan_time and angle_increment in your question please ?