The ROS2 launch file and/or the tofcore library should load a default sensor configuration that's the same as the SDK viewer software. To illustrate, the below test is with the same Mojave, same test setup and lighting conditions, and both were run with updated firmware. Notice how different the pointcloud presents in the SDK viewer vs RViz. Both are using default configuration settings in the SDK view and ROS2 nodes.
SDK viewer (pristine, filtered artifacts with nice ground plane)
The ROS2 launch file and/or the tofcore library should load a default sensor configuration that's the same as the SDK viewer software. To illustrate, the below test is with the same Mojave, same test setup and lighting conditions, and both were run with updated firmware. Notice how different the pointcloud presents in the SDK viewer vs RViz. Both are using default configuration settings in the SDK view and ROS2 nodes.
SDK viewer (pristine, filtered artifacts with nice ground plane)
RViz viewer (more noise than point cloud)