Pointcloud to LaserScan

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Hello all,

I am trying to use the pointcloud_to_laserscan node. I am publishing a pointcloud2 type file to the topic "cloud_pcl" and to fram "laser". How do I set up the roslaunch file? I've never done this before...

Thanks, -Hunter A.

Launch File:

<launch>
<!-- Fake Laser -->
    <node pkg="nodelet" type="nodelet" name="kinect_laser" args="load pointcloud_to_laserscan/      CloudToScan openni_manager" respawn="true">

        <param name="output_frame_id" value="/camera_depth_frame"/>
        <!-- heights are in the (optical?) frame of the kinect -->
        <param name="min_height" value="-0.15"/>
        <param name="max_height" value="0.15"/>
        <remap from="cloud" to="/cloud_pcl"/>
    </node>
</launch>