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As @gvdhoorn has said this looks like you're extrinsic calibration of the two sensors is incorrect, fixing this should sholve your problem.

The extrinsic calibration defines the position and orientation of your sensors within your robot, if the relative position defined in your robot description is not the same as the real robot then your will see alignment like yours. A good start would be double checking your measurements and the optical focus points of the sensors so make sure they're correct.

Hope this helps.