git_ws/rbx1/rbx1_vision/launch/passthrough2.launch

<launch>

  <!-- Start the nodelet manager -->
  <node pkg="nodelet" type="nodelet" name="pcl_manager" args="manager" output="screen" />

  <!-- Run a passthrough filter on the z axis -->
  <node pkg="nodelet" type="nodelet" name="passthrough_z" args="load pcl/PassThrough pcl_manager" output="screen">
    <remap from="~input" to="/camera/depth_registered/points" />
    <remap from="~output" to="/z_filtered" />
    <rosparam>
      filter_field_name: z
      filter_limit_min: 1.0
      filter_limit_max: 1.25
      filter_limit_negative: False
    </rosparam>
  </node>
  
  <!-- Run a passthrough filter on the x axis -->
  <node pkg="nodelet" type="nodelet" name="passthrough_x" args="load pcl/PassThrough pcl_manager" output="screen">
    <remap from="~input" to="/z_filtered" />
    <remap from="~output" to="/x_filtered" />
    <rosparam>
      filter_field_name: x
      filter_limit_min: -0.5
      filter_limit_max: 0.5
      filter_limit_negative: False
    </rosparam>
  </node>
  
  <!-- Run a passthrough filter on the y axis -->
  <node pkg="nodelet" type="nodelet" name="passthrough_y" args="load pcl/PassThrough pcl_manager" output="screen">
    <remap from="~input" to="/x_filtered" />
    <remap from="~output" to="/passthrough" />
    <rosparam>
      filter_field_name: y
      filter_limit_min: -1.0
      filter_limit_max: 0.5
      filter_limit_negative: False
    </rosparam>
  </node>
</launch>