Ros: kinetic

I'm using depthimage_to laser package and facing problem with obstacles too close to the robot or too far as I only get Nan values .

how can I handle nan values ? is there is a way to get -inf when robot too close to obstacles or +inf when robot too far in place of Nan, as it mentioned in the link http://wiki.ros.org/depthimage_to_laserscan ?

Nan values creating problem in the logic of my code.

I tried different Ranges for Min And max range but I always get Nan of course in case I'm too far or too close . I want to get -/+ inf in case I'm too far or too close

Camera URDF:-

      <link name="camera_link">
          <visual>
            <origin xyz="0.0 0.0 0.004" rpy="0 0 0"/>
            <geometry>
              <mesh filename="package://evarobotmodel_description/meshes/kinect.dae" scale="0.9 0.9 0.9"/>
            </geometry>
          </visual>
          <collision>
            <origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
            <geometry>
                <box size="0.0730 0.2760 0.0720"/>
            </geometry>
          </collision>
          <inertial>
            <mass value="0.170" />
            <origin xyz="0 0 0" />
            <inertia ixx="0.001152600" ixy="0.0" ixz="0.0"
                     iyy="0.000148934" iyz="0.0"
                     izz="0.001154654" />
          </inertial>
        </link>
        <joint name="camera_rgb_joint" type="fixed">
          <origin xyz="0.0 -0.02 0.0" rpy="0.0 0.0 0.0"/>
          <parent link="camera_link"/>
          <child link="camera_rgb_frame" />
        </joint>
        <gazebo reference="camera_link">
            <material>Gazebo/FlatBlack</material>
        </gazebo>
        <link name="camera_rgb_frame"/>
        <joint name="camera_rgb_optical_joint" type="fixed">
          <origin xyz="0 0 0" rpy="-1.57079632679 0 -1.57079632679" />
          <parent link="camera_rgb_frame" />
          <child link="camera_rgb_optical_frame" />
        </joint>
        <link name="camera_rgb_optical_frame"/>
        <joint name="camera_joint" type="fixed">
          <origin xyz="0.17 0.0 0.1913" rpy="0.0 0.0 0.0"/>
          <parent link="base_link"/>
          <child link="camera_link"/>
        </joint>
        <joint name="camera_depth_joint" type="fixed">
          <origin xyz="0 -0.045 0" rpy="0 0 0" />
          <parent link="camera_link" />
          <child link="camera_depth_frame" />
        </joint>
        <link name="camera_depth_frame"/>
        <joint name="camera_depth_optical_joint" type="fixed">
          <origin xyz="0 0 0" rpy="-1.57079632679 0 -1.57079632679" />
          <parent link="camera_depth_frame" />
          <child link="camera_depth_optical_frame" />
        </joint>
        <link name="camera_depth_optical_frame"/>
         <!--  Asus mount  -->
        <joint name="mount_asus_xtion_pro_joint" type="fixed">
          <origin xyz="0.1685 -0.0050 0.1563" rpy="1.57079632679 0 -1.57079632679"/>
          <parent link="base_link"/>
          <child link="mount_asus_xtion_pro_link"/>
        </joint>  
        <link name="mount_asus_xtion_pro_link">
<!--          <visual>
            <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry>
              <mesh filename="package://evarobotmodel_description/meshes/asus_base.dae"/>
            </geometry>
            <material name="Black"/>
          </visual>  -->
          <collision>
            <origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
          <geometry>
            <box size="0.2760 0.0330 0.0120"/>
          </geometry>
          </collision>
          <inertial>
            <mass value="0.170" />
            <origin xyz="0 0 0" />
            <inertia ixx="0.001152600" ixy="0.0" ixz="0.0"
                     iyy="0.000148934" iyz="0.0"
                     izz="0.001154654" />
          </inertial>
        </link>
        <gazebo reference="mount_asus_xtion_pro_link">
            <material>Gazebo/FlatBlack</material>
        </gazebo>
        <gazebo reference="camera_link">  
          <sensor type="depth" name="camera">
              <visualize>true</visualize>
            <always_on>true</always_on>
            <update_rate>20.0</update_rate>
            <camera>
              <horizontal_fov>1.0471975512</horizontal_fov>
              <image>
                <format>R8G8B8</format>
                <width>640</width>
                <height>480</height>
              </image>
              <clip>
                <near>0.05</near>
                <far>8.0</far>
              </clip>
            </camera>
            <plugin name="kinect_camera_controller" filename="libgazebo_ros_openni_kinect.so">
              <visualize>true</visualize>
              <robotNamespace>/</robotNamespace>
              <cameraName>camera</cameraName>
              <alwaysOn>true</alwaysOn>
              <updateRate>10</updateRate>
              <imageTopicName>rgb/image_raw</imageTopicName>
              <depthImageTopicName>depth/image_raw</depthImageTopicName>
              <pointCloudTopicName>depth/points</pointCloudTopicName>
              <cameraInfoTopicName>rgb/camera_info</cameraInfoTopicName>
              <depthImageCameraInfoTopicName>depth/camera_info</depthImageCameraInfoTopicName>
              <frameName>camera_depth_optical_frame</frameName>
              <baseline>0.1</baseline>
              <pointCloudCutoff>0.4</pointCloudCutoff>
              <distortionK1>0.00000001</distortionK1>
              <distortionK2>0.00000001</distortionK2>
              <distortionK3>0.00000001</distortionK3>
              <distortionT1>0.00000001</distortionT1>
              <distortionT2>0.00000001</distortionT2>
              <CxPrime>0</CxPrime>
              <Cx>0</Cx>
              <Cy>0</Cy>
              <focalLength>0</focalLength>
             <hackBaseline>0</hackBaseline>
            </plugin>
          </sensor>
        </gazebo>

depth to laser launch file :-

<?xml version="1.0"?>

<node pkg="depthimage_to_laserscan" type="depthimage_to_laserscan" name="depthimage_to_laserscan">
    <param name="scan_height" value="3"/>
    <param name="range_min" value="0.45"/>
    <param name="range_max" value="8.0"/>
    <param name="output_frame_id" value="base_link"/>
    <remap from="image" to="/camera/depth/image_raw"/>
    <remap from="scan" to="depth_scan"/>
    <remap from="camera_info" to="/camera/depth/camera_info"/>

  </node>
</launch>