After replacing the robot dog's own laser radar with the d435i camera, the map created after using pointcloud_to_laserscan is offset

[lina11116666]

After replacing the robot dog's own laser radar with the d435i camera, the map created after using pointcloud_to_laserscan is offset.
The map created by the d435i camera is shown in Figure 1, and the map created by the robot dog's own lidar is shown in Figure 2.

Below is the startup content of my node，pointcloud_to_laserscan. What modifications do I need to make?

from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument
from launch.substitutions import LaunchConfiguration
from launch_ros.actions import Node

def generate_launch_description():
return LaunchDescription([
DeclareLaunchArgument(
name='scanner', default_value='scanner',
description='Namespace for sample topics'
),
Node(
package='tf2_ros',
executable='static_transform_publisher',
name='static_transform_publisher',
arguments=['0', '0', '0', '0', '0', '0', '1', 'base_footprint', 'camera_link']
),
Node(
package='pointcloud_to_laserscan', executable='pointcloud_to_laserscan_node',
remappings=[('cloud_in', '/camera/depth/color/points'), ('scan', '/scan')],
parameters=[{
'target_frame': 'base_footprint',
'transform_tolerance': 0.01,
'target_frame': 'base_footprint',
'transform_tolerance': 0.01,
'min_height': 0.25,
'max_height': 1.0,
'angle_min': -3.14, # -M_PI/2
'angle_max': 3.14, # M_PI/2
'angle_increment': 0.0087, # M_PI/360.0
'scan_time': 0.25,
'range_min': 0.10,
'range_max': 20.0,
'use_inf': True,
'inf_epsilon': 1.0,
'output_log_level': 'debug' # 启用调试日志
}],
name='pointcloud_to_laserscan'

[Rayman]

Do you have a specific problem with pointcloud_to_laserscan? If not I think you can ask your question better on https://robotics.stackexchange.com/