# ROS2 ToF topic not showing proper data

Source: https://forum.modalai.com/topic/3813/ros2-tof-topic-not-showing-proper-data
Category: General Questions (https://forum.modalai.com/category/2/general-questions)
Posted: 2024-09-19 21:26:29 UTC by user1243
Replies: 1 · Views: 552

## user1243 · 2024-09-19 21:26:29 UTC

Hi I'm using a Starling 2 Max with a ToF sensor. I am using voxl-suite 1.3.4~beta2 and have the ToF sensor working in the voxl mapper. However, when I echo the ROS2 topic /tof_pc when running the voxl_mpa_to_ros2_node node I don't get proper data. See image below.
![95023e5e-5e8a-4655-bd22-2ff60972c744-image.png](https://forum.modalai.com/assets/uploads/files/1726779753170-95023e5e-5e8a-4655-bd22-2ff60972c744-image.png) 
Has anyone experienced this issue? Should I make the switch to ROS?

## Reply by brahim · 2024-09-30 20:08:43 UTC

Please verify the PC data in rviz2. What you see in rviz2 should look exactly alike to what is shown in voxal portal for tof_pc. Note that the point step size is 12. See this guide for more info on [pointcloud data message data](https://medium.com/@tonyjacob_/pointcloud2-message-explained-853bd9907743)

Point cloud data will look very different from image data, since the data field is constructed very different from BGR image formats.

I have replicated these results in a starling2 as well, with voxl-mpa-to-ros2 dev branch:![rospc_.png](https://forum.modalai.com/assets/uploads/files/1727726700892-rospc_.png) 

Note that you may need to spin up a static transform to see the pointcloud data in ROS:

```
ros2 run tf2_ros static_transform_publisher 0 0 0 0 0 0 map world 
```