change the height/angle of the laser scan created from pointcloud

edit

I believe you have two options:

• the min_height and max_height parameters to change the range of points from the cloud that are converted into the scan, or
• the target_frame parameter to change from whatever the default frame (e.g. lidar_frame) to the frame you're interested in (e.g. base_link)

The latter is probably the more appropriate solution, but its worth being aware of the min and max height parameters as well