encoder.launch

<launch>
  <arg name="depth" /> <!-- E.g., /head_mount_kinect/depth_registered/image_raw -->
  <arg name="rgb" /> <!-- E.g., /head_mount_kinect/rgb/image_rect_color -->
  <arg name="encoded" default="depthcloud_encoded" />
  <node name="$(anon depth_image_proc_convert_metric_image)" pkg="nodelet" type="nodelet" args="standalone depth_image_proc/convert_metric">
    <remap from="image_raw" to="$(arg depth)" />
    <remap from="image" to="/float/$(arg depth)" />
  </node>
  <node name="$(anon depthcloud_encoder)" pkg="depthcloud_encoder" type="depthcloud_encoder_node">
    <param name="depth" value="/float/$(arg depth)" />
    <param name="rgb" value="$(arg rgb)" />
    <remap from="depthcloud_encoded" to="$(arg encoded)" />
  </node>

pc_encoder.launch

<launch>
  <arg name="cloud" /> <!-- E.g., /head_mount_kinect/depth_registered/points -->
  <arg name="encoded" default="depthcloud_encoded" />
  <node name="$(anon depthcloud_encoder)" pkg="depthcloud_encoder" type="depthcloud_encoder_node">
    <param name="cloud" value="$(arg cloud)" />
    <param name="camera_frame_id" value="/head_mount_kinect_rgb_optical_frame" />
    <param name="depth_source" value="cloud" />
    <remap from="depthcloud_encoded" to="$(arg encoded)" />
  </node>
</launch>