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2016-10-30 19:48:09 -0600 answered a question Gazebo 1.5: libgazebo_openni_kinect.so: pointcloud data is rotated and flipped?

hi,I got the same problem,how to fix it ?

<gazebo reference="kinect_link">
    <sensor type="depth" name="openni_camera_camera">       
        <always_on>1</always_on>
        <visualize>true</visualize>             
        <camera>
            <horizontal_fov>1.047</horizontal_fov>  
            <image>
                <width>640</width>
                <height>480</height>
                <format>R8G8B8</format>
            </image>
            <depth_camera>

            </depth_camera>
            <clip>
                <near>0.1</near>
                <far>100</far>
            </clip>
        </camera>
        <plugin name="kinect_controller" filename="libgazebo_ros_openni_kinect.so">
        <alwaysOn>true</alwaysOn>
        <updateRate>10.0</updateRate>
        <cameraName>camera</cameraName>
        <frameName>kinect_link</frameName>                   
        <imageTopicName>rgb/image_raw</imageTopicName>
        <depthImageTopicName>depth/image_raw</depthImageTopicName>
        <pointCloudTopicName>depth/points</pointCloudTopicName>
        <cameraInfoTopicName>rgb/camera_info</cameraInfoTopicName>              
        <depthImageCameraInfoTopicName>depth/camera_info</depthImageCameraInfoTopicName>            
        <pointCloudCutoff>0.4</pointCloudCutoff>                
        <hackBaseline>0.07</hackBaseline>
        <distortionK1>0.0</distortionK1>
        <distortionK2>0.0</distortionK2>
        <distortionK3>0.0</distortionK3>
        <distortionT1>0.0</distortionT1>
        <distortionT2>0.0</distortionT2>
        <CxPrime>0.0</CxPrime>
        <Cx>0.0</Cx>
        <Cy>0.0</Cy>
        <focalLength>0.0</focalLength>
        </plugin>
    </sensor>
</gazebo>![image description](/upfiles/14777982551105122.jpg)(/upfiles/14777982463774798.jpg)(/upfiles/14777982365170525.jpg)