How to set URDF for new rplidar?

I would like to ask how to set URDF for new rplidar_a3. The red line of the laser scanner doesn’t fit with the map created before. It’s moving all the time. Please, help!

If you are using my magni_lidar launch files then those files get the pose of the lidar right in the launch files and thus not from the URDF file.

For example see and read the comments I have in this which is one of the launch files: