PointCloud to LaserScan Kinect

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I am working with the slam_gmapping, and I have created this launch file, that is mentioned here http://answers.ros.org/question/10606/problem-launching-pointcloud-to-laserscan/, but when I try to run it... this error comes:

[ INFO] [1374529520.364476474]: Initializing nodelet with 8 worker threads.
process[kinect_laser-25]: started with pid [23477]
[ERROR] [1374529520.386493921]: Failed to load nodelet [/pointcloud_throttle] of type [pointcloud_to_laserscan/CloudThrottle]: According to the loaded plugin descriptions the class pointcloud_to_laserscan/CloudThrottle with base class type nodelet::Nodelet does not exist. Declared types are  depth_image_proc/convert_metric depth_image_proc/disparity depth_image_proc/point_cloud_xyz depth_image_proc/point_cloud_xyzrgb depth_image_proc/register image_proc/crop_decimate image_proc/debayer image_proc/rectify image_view/disparity image_view/image nodelet_topic_tools/NodeletThrottleString nodelet_tutorial_math/Plus openni_camera/driver pcl/BAGReader pcl/BoundaryEstimation pcl/ConvexHull2D pcl/EuclideanClusterExtraction pcl/ExtractIndices pcl/ExtractPolygonalPrismData pcl/FPFHEstimation pcl/FPFHEstimationOMP pcl/MomentInvariantsEstimation pcl/MovingLeastSquares pcl/NodeletDEMUX pcl/NodeletMUX pcl/NormalEstimation pcl/NormalEstimationOMP pcl/NormalEstimationTBB pcl/PCDReader pcl/PCDWriter pcl/PFHEstimation pcl/PassThrough pcl/PointCloudConcatenateDataSynchronizer pcl/PointCloudConcatenateFieldsSynchronizer pcl/PrincipalCurvaturesEstimation pcl/ProjectInliers pcl/SACSegmentation pcl/SACSegmentationFromNormals pcl/SegmentDifferences pcl/StatisticalOutlierRemoval pcl/TestListener pcl/TestPingPong pcl/TestTalker pcl/VFHEstimation pcl/VoxelGrid stereo_image_proc/disparity stereo_image_proc/point_cloud stereo_image_proc/point_cloud2 test_nodelet/ConsoleTest test_nodelet/Plus
[FATAL] [1374529520.386692115]: Service call failed!
[ERROR] [1374529520.400198187]: Failed to load nodelet [/kinect_laser] of type [pointcloud_to_laserscan/CloudToScan]: According to the loaded plugin descriptions the class pointcloud_to_laserscan/CloudToScan with base class type nodelet::Nodelet does not exist. Declared types are  depth_image_proc/convert_metric depth_image_proc/disparity depth_image_proc/point_cloud_xyz depth_image_proc/point_cloud_xyzrgb depth_image_proc/register image_proc/crop_decimate image_proc/debayer image_proc/rectify image_view/disparity image_view/image nodelet_topic_tools/NodeletThrottleString nodelet_tutorial_math/Plus openni_camera/driver pcl/BAGReader pcl/BoundaryEstimation pcl/ConvexHull2D pcl/EuclideanClusterExtraction pcl/ExtractIndices pcl/ExtractPolygonalPrismData pcl/FPFHEstimation pcl/FPFHEstimationOMP pcl/MomentInvariantsEstimation pcl/MovingLeastSquares pcl/NodeletDEMUX pcl/NodeletMUX pcl/NormalEstimation pcl/NormalEstimationOMP pcl/NormalEstimationTBB pcl/PCDReader pcl/PCDWriter pcl/PFHEstimation pcl/PassThrough pcl/PointCloudConcatenateDataSynchronizer pcl/PointCloudConcatenateFieldsSynchronizer pcl/PrincipalCurvaturesEstimation pcl/ProjectInliers pcl/SACSegmentation pcl/SACSegmentationFromNormals pcl/SegmentDifferences pcl/StatisticalOutlierRemoval pcl/TestListener pcl/TestPingPong pcl/TestTalker pcl/VFHEstimation pcl/VoxelGrid stereo_image_proc/disparity stereo_image_proc/point_cloud stereo_image_proc/point_cloud2 test_nodelet/ConsoleTest test_nodelet/Plus
[FATAL] [1374529520.400328595]: Service call failed!
[pointcloud_throttle-24] process has died [pid 23434, exit code 255, cmd /opt/ros/fuerte/stacks/nodelet_core/nodelet/bin/nodelet load pointcloud_to_laserscan/CloudThrottle openni_manager cloud_in:=/camera/depth/points cloud_out:=cloud_throttled __name:=pointcloud_throttle __log:=/root/.ros/log/0096b582-f318-11e2-85b3-001d7e0aced1/pointcloud_throttle-24.log].
log file: /root/.ros/log/0096b582-f318-11e2-85b3-001d7e0aced1/pointcloud_throttle-24*.log
[kinect_laser-25] process has died [pid 23477, exit code 255, cmd /opt/ros/fuerte/stacks/nodelet_core/nodelet/bin/nodelet load pointcloud_to_laserscan/CloudToScan openni_manager cloud:=cloud_throttled __name:=kinect_laser __log:=/root/.ros/log/0096b582-f318-11e2-85b3-001d7e0aced1/kinect_laser-25.log].
log file: /root/.ros/log/0096b582-f318-11e2-85b3-001d7e0aced1/kinect_laser-25*.log
[ERROR] [1374529520.973861837]: Tried to advertise a service that is already advertised in this node [/camera/depth_registered/image_rect_raw/compressedDepth/set_parameters]
[ERROR] [1374529520.987485340]: Tried to advertise a service that is already advertised in this node [/camera/depth_registered/image_rect_raw/compressed/set_parameters]
[ERROR] [1374529521.000773838]: Tried to advertise a service that is already advertised in this node [/camera/depth_registered/image_rect_raw/theora/set_parameters]
[ INFO] [1374529521.770846682]: Number devices connected: 1
[ INFO] [1374529521.771127177]: 1. device on bus 002:10 is a Xbox NUI Camera (2ae) from Microsoft (45e ...