We would like to use depth to flat scan for to generate the flatscan for use with the navigation subgraphs. We created a graph to take zed camera imagery, create stereo depth and then flat scan. The issue here is the depth image is being created but the depth image flattening is not producing a flatscan. I beleive this is related to the pose configuration. We mimicked the graph design from kaya but our depth image flattening cannot translate the robot_T_camera relationship. How can we produce the flatscan?