Pointcloud is displayed underground

[Dragi13]

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[matlabbe]

You should adjust the static transform TF between your base and the camera, either by editing the URDF if you use this or static_transform_publisher.

[Dragi13]

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[matlabbe]

Based on this part:

<joint name="camera_joint" type="fixed">
    <parent link="base_link"/>
    <child link="camera_link"/>
    <origin xyz="-0.032 0 0.172" rpy="0 0 0"/>
  </joint>

and the screenshot you have taken, I would say the transform may be more like this:

<joint name="camera_joint" type="fixed">
    <parent link="base_link"/>
    <child link="camera_link"/>
    <origin xyz="-0.032 0 0.3" rpy="0 -0.15 0"/>
  </joint>

[Dragi13]

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[Dragi13]

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