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Yes, the min_height parameter can be negative (anything between -10.0 and 10.0 meters). The only thing to look out for is that pointcloud_to_laserscan assumes the input PointCloud to be in the Kinect optical frame (x to the right, y down, z forward), while most other coordinate systems in ROS have x forward, y to the left, z up. That means that -y is up in pointcloud_to_laserscan.
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Yes, the min_height parameter can be negative (anything between -10.0 and 10.0 meters). The only thing to look out for is that pointcloud_to_laserscan assumes the input PointCloud to be in the Kinect optical frame (x to the right, y down, z forward), while most other coordinate systems in ROS have x forward, y to the left, z up. That means that -y is up in pointcloud_to_laserscan.
BTW, you can use the following command to adjust these parameters dynamically with a GUI; that makes parameter tuning much easier:
rosrun dynamic_reconfigure reconfigure_gui
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