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I never found a fix for this. I ended up using the pointcloud_to_laserscan package instead.

I ~~never~~ found ~~a fix for this.~~ out that I ~~ended up using~~ had set two different update rates in the ~~pointcloud_to_laserscan package instead.~~kinect plugin. The camera sensor <update_rate> was set to 20, while the plugin <updaterate> was set to 5.

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