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Maybe you should try creating a different reference link for your lidar sensor.

<link name="laser_optical_link"/>
<joint name="laser_optical_joint" type="fixed">
    <axis xyz="0 1 0"/>
  <parent link="base_link"/>
  <child link="laser_optical_link"/>
  <origin rpy="-${pi/2} 0 -${pi/2}"/>

This optical link applies a rotation to your sensor. Now use "laser_optical_link" in your sensor as its frame like below:


Using your new rotated optical link ensures your sensor data is displayed properly in RVIZ.