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In addition to @Dan Lazewatsky's through answer, I summarized what I found out for some argument names in launch files in pkg's wiki page. I had to correct the topic names at args in a launch file.

As a record I paste what works for me with camera output from roslaunch turtlebot_gazebo turtlebot_world.launch.

<launch>

  <arg name="camera" default="camera" />
  <arg name="depth_ns" default="depth" />
  <arg name="image_topic" default="image_raw" />
  <arg name="depth_topic" default="image_raw" />
  <arg name="fixed_frame" default="/camera_rgb_frame" />

  <!--include file="$(find openni_launch)/launch/openni.launch"/-->
  <node name="$(anon dynparam)" pkg="dynamic_reconfigure" type="dynparam" args="set_from_parameters $(arg camera)/driver">
    <param name="depth_registration" type="bool" value="true" />
  </node>

 <node pkg="face_detector" type="face_detector" name="face_detector" output="screen">
    <remap from="camera" to="$(arg camera)" />
    <remap from="image_topic" to="$(arg image_topic)" />
    <remap from="depth_topic" to="$(arg depth_topic)" />
    <remap from="depth_ns" to="$(arg depth_ns)" />
    <param name="fixed_frame" type="string" value="$(arg fixed_frame)" />
    <param name="classifier_name" type="string" value="frontalface" />
    <rosparam command="load" file="$(find face_detector)/param/classifier.yaml"/>
    <param name="classifier_reliability" type="double" value="0.9"/>
    <param name="do_continuous" type="bool" value="true" />
    <param name="do_publish_faces_of_unknown_size" type="bool" value="false" /> 
    <param name="do_display" type="bool" value="false" />
    <param name="use_rgbd" type="bool" value="true" />
    <param name="approximate_sync" type="bool" value="true" />

  </node>

</launch>

Topics I was getting from turtlebot Gazebo.

$ rosnode info /face_detector
--------------------------------------------------------------------------------
Node [/face_detector]
Publications: 
 * /face_detector/result [face_detector/FaceDetectorActionResult]
 * /face_detector/status [actionlib_msgs/GoalStatusArray]
 * /face_detector/faces_cloud [sensor_msgs/PointCloud]
 * /face_detector/people_tracker_measurements_array [people_msgs/PositionMeasurementArray]
 * /rosout [rosgraph_msgs/Log]
 * /face_detector/feedback [face_detector/FaceDetectorActionFeedback]

Subscriptions: 
 * /camera/rgb/image_raw [sensor_msgs/Image]
 * /tf [tf2_msgs/TFMessage]
 * /camera/depth/camera_info [sensor_msgs/CameraInfo]
 * /tf_static [unknown type]
 * /face_detector/cancel [unknown type]
 * /camera/rgb/camera_info [sensor_msgs/CameraInfo]
 * /face_detector/goal [unknown type]
 * /camera/depth/image_raw [sensor_msgs/Image]
 * /clock [rosgraph_msgs/Clock]

In addition to @Dan Lazewatsky's through answer, I summarized what I found out for some argument names in launch files in pkg's wiki page. I had to correct the topic names at args in a launch file.

As a record I paste what works for me with camera output from roslaunch turtlebot_gazebo turtlebot_world.launch. (I used this human model on Gazebo).

<launch>

  <arg name="camera" default="camera" />
  <arg name="depth_ns" default="depth" />
  <arg name="image_topic" default="image_raw" />
  <arg name="depth_topic" default="image_raw" />
  <arg name="fixed_frame" default="/camera_rgb_frame" />

  <!--include file="$(find openni_launch)/launch/openni.launch"/-->
  <node name="$(anon dynparam)" pkg="dynamic_reconfigure" type="dynparam" args="set_from_parameters $(arg camera)/driver">
    <param name="depth_registration" type="bool" value="true" />
  </node>

 <node pkg="face_detector" type="face_detector" name="face_detector" output="screen">
    <remap from="camera" to="$(arg camera)" />
    <remap from="image_topic" to="$(arg image_topic)" />
    <remap from="depth_topic" to="$(arg depth_topic)" />
    <remap from="depth_ns" to="$(arg depth_ns)" />
    <param name="fixed_frame" type="string" value="$(arg fixed_frame)" />
    <param name="classifier_name" type="string" value="frontalface" />
    <rosparam command="load" file="$(find face_detector)/param/classifier.yaml"/>
    <param name="classifier_reliability" type="double" value="0.9"/>
    <param name="do_continuous" type="bool" value="true" />
    <param name="do_publish_faces_of_unknown_size" type="bool" value="false" /> 
    <param name="do_display" type="bool" value="false" />
    <param name="use_rgbd" type="bool" value="true" />
    <param name="approximate_sync" type="bool" value="true" />

  </node>

</launch>

Topics I was getting from turtlebot Gazebo.

$ rosnode info /face_detector
--------------------------------------------------------------------------------
Node [/face_detector]
Publications: 
 * /face_detector/result [face_detector/FaceDetectorActionResult]
 * /face_detector/status [actionlib_msgs/GoalStatusArray]
 * /face_detector/faces_cloud [sensor_msgs/PointCloud]
 * /face_detector/people_tracker_measurements_array [people_msgs/PositionMeasurementArray]
 * /rosout [rosgraph_msgs/Log]
 * /face_detector/feedback [face_detector/FaceDetectorActionFeedback]

Subscriptions: 
 * /camera/rgb/image_raw [sensor_msgs/Image]
 * /tf [tf2_msgs/TFMessage]
 * /camera/depth/camera_info [sensor_msgs/CameraInfo]
 * /tf_static [unknown type]
 * /face_detector/cancel [unknown type]
 * /camera/rgb/camera_info [sensor_msgs/CameraInfo]
 * /face_detector/goal [unknown type]
 * /camera/depth/image_raw [sensor_msgs/Image]
 * /clock [rosgraph_msgs/Clock]

$ rostopic echo /face_detector/people_tracker_measurements_array 
header: 
  seq: 202
  stamp: 
    secs: 3317
    nsecs: 190000000
  frame_id: camera_depth_optical_frame
people: 
  - 
    header: 
      seq: 0
      stamp: 
        secs: 3317
        nsecs: 190000000
      frame_id: camera_depth_optical_frame
    name: frontalface
    object_id: 3
    pos: 
      x: -0.815850454715
      y: -1.44855080735
      z: 3.6913383007
    reliability: 0.9
    covariance: [0.04, 0.0, 0.0, 0.0, 0.04, 0.0, 0.0, 0.0, 0.04]
    initialization: 1
cooccurrence: []