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To me it makes more sense to create another nodelet implementing the filter you propose, and chaining it in between the camera driver and pointcloud-to-laserscan or depthimage-to-laserscan. Using nodelets means that the performance won't get reduced by publishing / subscribing, and the code will be reusable for other use cases.

Indeed, I would be surprised if there aren't filters already available as open source. If not, it would make a nice contribution to https://github.com/ros-perception