Ok, you are receiving scans from astra with 11 frames per second.
Now, in another terminal window run
From menu Global Options -> Fixed frame choose “camera_depth_optical_frame”
Thank you for your kind help.
As you see in the picture, the picture is not clear, what should I do
Quality of the pointcloud depends on the distance from scanned object and object surface. Try with some other object. You may also try the same object but from different viewpoint.
OK, thanks for your reply