DepthCloud's position wrong with the calibrated camera frame

[mousecpn]

When I use the code to calibrate my franka and realsense camera. And I put my point cloud on the rviz. It becomes:

It is obviously wrong because the point cloud should be in front of the z-axis (blue axis of the camera frame).
How can I fix it?

[marcoesposito1988]

Hi @mousecpn,

there is a very long list of possible problems. Have you looked at the troubleshooting?