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Ok, I finally found the answer: I just needed to start a passthrough nodelet with the correct parameters. Here is a working launch file.

<launch>
  <node pkg="nodelet" type="nodelet" name="pcl_manager" args="manager" output="screen" />

  <!-- Run a passthrough filter to clean NaNs -->
  <node pkg="nodelet" type="nodelet" name="passthrough" args="load pcl/PassThrough     pcl_manager" output="screen">
    <remap from="~input" to="/camera/depth/points" />
    <rosparam>
      filter_field_name: x
      filter_limit_min: 0.0
      filter_limit_max: 1.5
      filter_limit_negative: False
    </rosparam>
    <rosparam>
      filter_field_name: y
      filter_limit_min: 0.0
      filter_limit_max: 1.5
      filter_limit_negative: False
    </rosparam>
    <rosparam>
      filter_field_name: z
      filter_limit_min: 0.0
      filter_limit_max: 1.5
      filter_limit_negative: False
    </rosparam>
  </node>
</launch>

Ok, I finally found the answer: I just needed to start a passthrough nodelet with the correct parameters. Here is a working launch file.

<launch>

  <group ns="/pcl_filters">
    <!-- PCL Manager -->
    <node pkg="nodelet" type="nodelet" name="pcl_manager" name="box_filter_pcl_manager" args="manager" output="screen" />

output="screen"/>

    <!-- Run a passthrough filter to clean NaNs delimit in x direction -->
   <node pkg="nodelet" type="nodelet" name="passthrough" name="psx" args="load pcl/PassThrough     pcl_manager" box_filter_pcl_manager" output="screen">
     <remap from="~input" to="/camera/depth/points" />
     <rosparam>
       filter_field_name: x
        filter_limit_min: -.8
        filter_limit_max: 0.5
      </rosparam>
    </node>

    <!-- Run a passthrough filter to delimit in y direction -->
    <node pkg="nodelet" type="nodelet" name="psy" args="load pcl/PassThrough box_filter_pcl_manager" output="screen">
      <remap from="~input" to="psx/output" />
      <rosparam>
        filter_field_name: y
        filter_limit_min: -1.
        filter_limit_max: .3
      </rosparam>
    </node>

    <!-- Run a passthrough filter to delimit in z direction -->
    <node pkg="nodelet" type="nodelet" name="psz" args="load pcl/PassThrough box_filter_pcl_manager" output="screen">
      <remap from="~input" to="psy/output" />
      <rosparam>
        filter_field_name: z
        filter_limit_min: 0.0
       filter_limit_max: 1.5
      filter_limit_negative: False
2.0
      </rosparam>
    <rosparam>
      filter_field_name: y
      filter_limit_min: 0.0
      filter_limit_max: 1.5
      filter_limit_negative: False
    </rosparam>
    <rosparam>
      filter_field_name: z
      filter_limit_min: 0.0
      filter_limit_max: 1.5
      filter_limit_negative: False
    </rosparam>
  </node>
  </group>
</launch>