how to change the orientation of the vertical setted vlp 16

[himhan34]

Please complete the following information:

• OS and Version: ubuntu 18.04
• ROS Version: melodic
• Built from Source or Downloaded from Official Repository:
• nope
  Describe the bug
  A clear and concise description of what the bug is.

As the people had done in this git hub, i could operate the two lidars in the same, fixed frame.
#108
unfortunately, one of my vlp-16 is horizontal and the other is vertical,

this picture is the the pointcloud from the vertical lidar,

this is a picture from the horizontal lidar

and when i displayed both lidars in the same rviz

this is shown,

is there any method to change orientation of the vertical lidar.

and also my launch file is like this

<!-- VLP-16 front -->
<include file="$(find velodyne_pointcloud)/launch/VLP16_points.launch">
  <arg name="calibration" value="$(arg velodyne_calib)"/>
  <arg name="device_ip" value="192.168.1.201"/>
  <arg name="frame_id" value="vlp201"/>
  <arg name="port" value="2368"/>
</include>

[DrAndyWest]

To provide ROS with the orientation of a sensor, you would need to supply the specific transformation (in your case a simple rotation). The TF2 package provides this already in ROS, or you can describe the rotation as part of your robot in the URDF.

For the time being, just for testing, I would suggest using the tf2 static_transform_publisher and describing the relative position and rotation of your two lidar systems.

[JWhitleyWork]

Thanks for helping, @DrAndyWest! @himhan34 Please open another issue if you have further driver-related questions.