pointcloud_to_laserscan indigo setup problem

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Hello,

I am running ROS Indigo on Ubuntu 14.04. My setup uses 1 Asus Xtion Pro with Openni2. I am trying to use the sample_node.launch file that comes by default with the pointcloud_to_laserscan package. Where the Point Cloud 2 input is "/camera/depth_registered/points", and Laser Scan output is "/camera/scan".

On RVIZ the laserscan output doesn't wrap what is projected by the Point Cloud. It rather shows a random irrelevant laser scan.

I tried to read the debug messages from "rqt", and they are all related to the points being out of range/height; thus I get lots of "inf" points by using "rostopic echo".

I guess the problem is related to a tf ? But I have no clue how to setup it up correctly. Below is the launch file I use. Any help would be appreciated.

<launch>

<arg name="camera" default="camera" />

<!-- start sensor-->
<include file="$(find openni2_launch)/launch/openni2.launch">
    <arg name="camera" default="$(arg camera)"/>
</include>

<!-- run pointcloud_to_laserscan node -->
<node pkg="pointcloud_to_laserscan" type="pointcloud_to_laserscan_node" name="pointcloud_to_laserscan">

    <remap from="cloud_in" to="$(arg camera)/depth_registered/points"/>
    <remap from="scan" to="$(arg camera)/scan"/>
    <rosparam>
        #target_frame: # Leave disabled to output scan in pointcloud frame
        transform_tolerance: 0.01
        min_height: 0.0
        max_height: 1.0

        angle_min: -1.5708 # -M_PI/2
        angle_max: 1.5708 # M_PI/2
        angle_increment: 0.087 # M_PI/360.0
        scan_time: 0.3333
        range_min: 0.45
        range_max: 4.0
        use_inf: true
        concurrency_level: 0
    </rosparam>

</node>

</launch>