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<launch> <node pkg="nodelet" type="nodelet" name="pointcloud_throttle" args="load pointcloud_to_laserscan/CloudThrottle openni_manager" respawn="true"> <remap from="cloud_in" to="/laser_ReadOut/cloud_pcl"/> <remap from="cloud_out" to="cloud_throttled"/> </node>

<node pkg="nodelet" type="nodelet" name="laserOut" args="load pointcloud_to_laserscan/CloudToScan openni_manager" respawn="true"> <remap from="cloud" to="/cloud_throttled"/> </node>

<node pkg="nodelet" type="nodelet" name="kinect_laser_narrow" args="load pointcloud_to_laserscan/CloudToScan openni_manager" respawn="true"> <remap from="cloud" to="/cloud_throttled"/> <remap from="scan" to="/narrow_scan"/> </node> </launch>