ROS Publish unorganized Pointcloud

I use a camera to simulate depth images and publish pcl data. After some debbuging i found out, that the published PointCloud is unorganized. Is there a possibility to publish organized pcls or transform them later?

Thank you

Hi @d.kalteis - Are you following this doc to publish pointcloud and seeing the issue?
https://docs.omniverse.nvidia.com/isaacsim/latest/ros2_tutorials/tutorial_ros2_camera_publishing.html#publish-pointcloud-from-depth-images

Hi, I followed this tutorial 7.2.3. ROS2 Cameras — Omniverse IsaacSim latest documentation and added an IntelRealSense via “Sensors”. I just did it via the action graph and published ‘PCL’ instead of ‘RGB’