title: ROS: tf with RPlidar
body: <p>I'm using ROS and a RPLidar A2 and apparently the sensor turns clockwise which means its reference frame (see image below) isn't the same as a normal cartesian frame (x axis on 0°, y axis on 90°). So i need to transform the frame via tf to make it easier to understand. Thus, i guess i just need to make a +90° rotation around axis z to match the normal cartesian frame.</p>
  <p>How can i make this happen? Do i need to add the static TF transformation information to the launch file?</p>
  <p><a href="https://i.stack.imgur.com/xNNNJ.png" rel="nofollow noreferrer"><img src="https://i.stack.imgur.com/xNNNJ.png" alt="enter image description here" /></a></p>