# Pointcloud_to_laserscan complications

Hello, I am trying to use the pointcloud_to_laserscan library with very little success.I had some kind of results but now i can't see anything in rviz.The results that i am speeching about are just a few points not really related to the cloud information. I tried to "play" with the angle_increment param to increasing the resolution of the output laser. i did not obtain good results, 2 independent and very small( i guess sized down in a way) lasers in rviz. After this a clean install the library again, but now nothing is visible in rviz. I changed the target frame param, with no results. I am just hoping that maybe somebody had the same situation like I do and can give me a bit of info on how can this be solved. I can't use depthimage_to_laserscan because i need to filter the point cloud before obtaining the final laserscan. Depthimage_to_laserscan works with no problem. Any help is highly appreciated.

This is the launch file that i run the pointcloud_to_laserscan node:

<?xml version="1.0"?>

<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="/filtered"/>
<remap from="scan" to="\$(arg camera)/scan"/>
<rosparam>
target_frame:camera_link # Leave disabled to output scan in pointcloud frame
transform_tolerance: 0.5
min_height: 0.0
max_height: 4.0

angle_min: -1.5708 # -M_PI/2
angle_max: 1.5708 # M_PI/2
angle_increment: 0.0087 # M_PI/360.0
scan_time: 0.3333
range_min: 0.2
range_max: 4.0
use_inf: true

# Concurrency level, affects number of pointclouds queued for processing and number of threads used
# 0 : Detect number of cores