Noisy points from point cloud causes Moveit! to fail

edit

Never mind. It is actually straightforward to filter out those points, using the PassThrough filter and the StatisticalOutlierRemoval filter from pcl_ros. Pasting my launch file below for a reference in case someone runs into the same issue.

<launch>
  <node pkg="nodelet" type="nodelet" name="pcl_manager" args="manager" output="screen" />

  <node pkg="nodelet" type="nodelet"
        name="pass_through_z"
        args="load pcl/PassThrough pcl_manager">
    <param name="filter_field_name" value="z" />
    <param name="filter_limit_min" value="0.25" />
    <param name="filter_limit_max" value="3.0" />
    <param name="filter_limit_negative" value="False" />
    <remap from="~input" to="/kinect2/sd/points"/>
    <remap from="~output" to="/kinect2/sd/filtered_passthrough_z"/>
  </node>

  <node pkg="nodelet" type="nodelet"
        name="statistical_filter"
        args="load pcl/StatisticalOutlierRemoval pcl_manager">
    <param name="mean_k" value="100" />
    <param name="stddev" value="0.1" />
    <remap from="~input" to="/kinect2/sd/filtered_passthrough_z"/>
    <remap from="~output" to="/kinect2/sd/filtered_points"/>
  </node>
</launch>

See screenshot below for the point cloud after filtering.