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You've already written a ROS node in C++ to find the two planes, right? You can do the calculation in that same node using C++.

What specifically do you want to calculate? The vertical distance between planes? Or the distance between the closest two points on the planes? Or something else? Either of these could be calculated using PCL/Eigen

Also, electric is a pretty old version of ROS, you may want to upgrade to fuerte or groovy if you can :-)