Z-axis flipped

[JereKnuutinen]

Please complete the following information:

• OS and Version: [e.g. Ubuntu 16.04] Ubuntu 20.04
• ROS Version: [e.g. Kinetic] ROS foxy
• Built from Source or Downloaded from Official Repository: Built from source
• Version: [if from repository, give version from sudo dpkg -s ros-$ROS_VERSION-velodyne, if from source, give commit hash]

Describe the bug A clear and concise description of what the bug is. Why does this driver flip the z-axis? When I rotate VLP16 around its y-axis (I use ros convention). I have also logged data to rosbag and I visualized it in MATLAB where I noticed the same.

To Reproduce Steps to reproduce the behavior:

1. Launch : ros2 launch velodyne velodyne-all-nodes-VLP16-launch.py
2. ros2 run tf2_ros static_transform_publisher 0 0 0 0 0 0 1 "map" "velodyne"
3. rviz2
4. Visualize pointcloud and see the behaviour.

Expected behavior You should see the described behaviout.

[JWhitleyWork]

I'm sorry but I have not heard of nor seen this behavior in many years of using this driver (with Velodynes mounted in various orientations). Please provide some screenshots to show what you are describing.