Laserscan offset from original point cloud

[fmTUD]

Hi,

We are facing an issue where the laser scan generated by the pointcloud_to_laserscan_node is slightly "shrunken", i.e each point in the laser scan has slightly smaller distance than the corresponding point of the point cloud.

The pointcloud is generated from the ira_laser_tools laser scan multi merger. The original laser scan passed to the merger is a 2D LIDAR.

In the above Rviz2 screenshot, all the pointcloud points are in white, and all the laser scan points are colored green.

Any assistance/suggestions would be greatly appreciated.

ROS version: Humble
Package version: Version: 2.0.1