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Hi, I know this is old, however, I'd like to mention that the point cloud data is fine. With Asus/Primesense/Kinect1 the point cloud is published in the "camera_rgb_optical_frame" which is rotated with the transformation you mention with respect to the "camera_link".

In my case, I set <framename>${name}/camera_rgb_optical_frame</framename> and then I have a launch file with the default axis transformations (you can get them using a real RGBD sensor and tf echoing the frames) like this.

<launch>

<!-- LAUNCH INTERFACE -->
<arg name="camera_name" default="head"/>

<!-- LAUNCH IMPLEMENTATION -->
<node pkg="tf" type="static_transform_publisher" name="hand_camera_calib" args="0.000 -0.020 0.000 0.000 0.000 0.000 1.000 $(arg camera_name)_link $(arg camera_name)/camera_link  100"/>

<node pkg="tf" type="static_transform_publisher" name="camera_depth_frame" args="0.000 -0.020 0.000 0.000 0.000 0.000 1.000  $(arg camera_name)/camera_link $(arg camera_name)/camera_depth_frame 100"/>

<node pkg="tf" type="static_transform_publisher" name="camera_depth_optical_frame" args="0.000 -0.020 0.000 -0.500 0.500 -0.500 0.500 $(arg camera_name)/camera_link $(arg camera_name)/camera_depth_optical_frame 100"/>

<node pkg="tf" type="static_transform_publisher" name="camera_rgb_frame" args="0.000 -0.045 0.000 0.000 0.000 0.000 1.000 $(arg camera_name)/camera_link $(arg camera_name)/camera_rgb_frame 100"/>

<node pkg="tf" type="static_transform_publisher" name="camera_rgb_optical_frame" args="0.000 -0.045 0.000 -0.500 0.500 -0.500 0.500  $(arg camera_name)/camera_link $(arg camera_name)/camera_rgb_optical_frame 100"/>

</launch>

And it works fine for me.