Hello, I'm trying to simulate a stackingbox with some elements and create a PointCloud with the kinect camera and now im trying to label these points with the ids of the elements with an rayshape

The cam is at "0.0 0.0 1.9 0.0 1.5707963267948966 0.0" so i tried to transfrom the frame with <node pkg="tf2_ros" type="static_transform_publisher" name="world_broadcaster" args="0.0 0.0 1.9 0.0 1.5707963267948966 0.0 map depth_camera_link" />

but than the map frame is not at (0,0,0) https://ibb.co/0fFwHc1

when I use

<node pkg="tf2_ros" type="static_transform_publisher" name="world_broadcaster" args="0.0 0.0
-1.9 0.00000, 0.00000, 0.00000, 1.00000 map depth_camera_link" />

https://ibb.co/XxfLSD6

Then it is in the middle of the stackingbox where also the root point of the world is

But unfortunately the ray laser is not completely correct (https://ibb.co/JjCgZJw)

I use in these example a banana as an element

My Source code: https://github.com/kingingo/BinPickingSim