pcl/FeatureFromNormals no incoming messages [closed]

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Hello,

I'm trying to implement nodelet, which is child class of pcl_ros::FeatureFromNormals, the problem is that there are no incoming messages, I'm using openni_camera as a source of points and pcl/NormalEstimation nodelet to compute normals.

My idea of what is wrong is that the synchronization of the normals and points does not work because the points are coming at 30 fps but it takes almost 2 sec to compute normals. Am I right?

Here is the launch file:

<launch>
<!-- Launch openni grabber -->
<include file="$(find openni_launch)/launch/openni.launch"/>

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

<!-- Remove NANs and filter distance -->
<node pkg="nodelet" type="nodelet" name="psz" args="load pcl/PassThrough pcl_manager" output="screen">
    <remap from="~input" to="/camera/depth/points" />
  <rosparam>
    filter_field_name: z
    filter_limit_min: 1.4
    filter_limit_max: 1.5
  </rosparam>
</node>

<!-- Normal Estimation -->
<node pkg="nodelet" type="nodelet" name="normal_estimation" args="load clopema/NormalEstimation pcl_manager" output="screen">
    <remap from="~input" to="/psz/output"/>
    <rosparam>
        # -[ Mandatory parameters
        k_search: 0
        radius_search: 0.015
        # Set the spatial locator. Possible values are: 0 (ANN), 1 (FLANN), 2 (organized)
        spatial_locator: 0
    </rosparam>
</node>

<!-- Wrinkledness Estimation -->
<node pkg="nodelet" type="nodelet" name="wrinkledness_estimation" args="load pcl/WrinklednessEstimation pcl_manager" output="screen">
    <remap from="~input" to="/camera/depth/points"/>
    <remap from="~normals" to="/normal_estimation/output"/>
    <rosparam>
        max_quene_size: 300
        # -[ Mandatory parameters
        k_search: 0
        radius_search: 0.015
        # Set the spatial locator. Possible values are: 0 (ANN), 1 (FLANN), 2 (organized)
        spatial_locator: 0
    </rosparam>
</node>
</launch>