An Error in use ira_laser_tools to merge laser datas.

edit

I have a rpldiarA2 sensor and a kinect camera sensor.I want to merge datas from kinect and rplidar ,then give the merge data to gmapping node.But when i roslaunch the ira_laser_tools to merge the data,there is a problem.

it said,

[pcl::concatenatePointCloud] Number of fields in cloud1 (4) !=Number of fields in cloud2(5)

cloud1 is kinect's fake laser scan;cloud2 is rplidar's laser scan.

So,i want to know reason for it, and how to solve this problem.

Thank you for your watching.~~