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It seems ROS is having trouble running the pointcloud_to_laserscan node. Perhaps you are running Groovy?

If so, you will need to use depthimage_to_laserscan instead.

If you are not running Groovy, please post back so we can try to debug this some more. If you are running Groovy, please post your system information (ROS Version, OS Version/platform, etc.) with your questions in the future. It helps us identify the problem more quickly.