depth_to_point_cloud.launch

<launch>

  <arg name="manager" default="local_manager" />
  <arg name="depth" default="/camera/depth_registered/image_raw" />
  <arg name="camera_info" default="/camera/depth_registered/camera_info"/>
  
  <node pkg="nodelet" type="nodelet" args="manager"
        name="$(arg manager)" output="screen"/>
  
  <group ns="head" >
    <node pkg="nodelet" type="nodelet" name="depth_to_point_cloud"
          args="load depth_image_proc/point_cloud_xyz /$(arg manager) --no-bond">
      <remap from="image_rect" to="$(arg depth)"/>
      <remap from="camera_info" to="$(arg camera_info)"/>
    </node>

    <!-- Run a passthrough filter to clean NaNs -->
    <node pkg="nodelet" type="nodelet" name="passthrough"
	  args="load pcl/PassThrough /$(arg manager)" output="screen">
      <remap from="~input" to="/head/points" />
      <rosparam subst_value="true">
        filter_field_name: z
        filter_limit_min: 0.08
        filter_limit_max: 1.20
        filter_limit_negative: False
        keep_organized: true
      </rosparam>
    </node>
  </group>

<!-- <node name="multi_plane_estimate" pkg="nodelet" type="nodelet" respawn="true" -->
<!--       args="load jsk_pcl/OrganizedMultiPlaneSegmentation /$(arg manager)" > -->
<!--   <remap from="~input" to="passthrough/output" /> -->
<!--   <rosparam> -->
<!--     max_curvature: 0.01 -->
<!--     estimate_normal: true -->
<!--     min_refined_area_threshold: 0.01 -->
<!--     min_size: 1000 -->
<!--   </rosparam> -->
<!-- </node> -->
  
</launch>