How can I use realtime_urdf_filter.launch in PR2?

[aginika]

I changed original launch file and wrote as below, but the /openni/depth_registered_filtered/image_rect wasn't published as we expected.(We expected the arm pointclouds are removed.)

We also changed the filter parameters sometimes, but it didn't make a difference. How should change the setting or is there anything we need to do other than this?

realtime_urdf_filter.launch

<launch>
  <node
    pkg="realtime_urdf_filter" type="realtime_urdf_filter" name="$(anon realtime_urdf_filter)" output="screen">
    <remap from="~input_depth" to="/openni/depth_registered/image_raw"/>
    <remap from="~output_depth" to="/openni/depth_registered_filtered/image_rect" />
    <remap from="~output_mask" to="/urdf_filtered_mask" />

    <rosparam command="load" file="$(find realtime_urdf_filter)/launch/filter_parameters.yaml"/>
  </node>                 

  <!-- Load an example URDF -->
  <!-- <param name="robot_description" command="$(find xacro)/xacro.py '$(find realtime_urdf_filter)/urdf/example.urdf.xml'"/> -->

  <!-- <node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher"> -->
  <!--   <param name="tf_prefix" value="EXAMPLE"/> -->
  <!-- </node> -->
</launch>

fillter_paramters.xml

fixed_frame: /world
camera_frame: /openni_rgb_optical_frame
camera_offset:
  translation: [0.0, 0.0, 0.0]
  rotation:    [0.0, 0.0, 0.0, 1.0]
# There is one entry for each URDIF that should be filtered
models: 
- model: "robot_description"
  tf_prefix: ""
# how far in front of the robot model is still deleted? (e.g. 0.05 = 5cm)
depth_distance_threshold: 0.05
show_gui: true
filter_replace_value: 5.0

The output image is below. Top windows is show_gui's view and bottom window shows /openni/depth_registered_filtered/image_rect.

Thanks.