Add pointcloud_to_laserscan launch and yaml file

launch/include/pointcloud_to_laserscan.launch

+<?xml version="1.0"?>
+<!-- -->
+<launch>
+
+  <arg name="ns"            default="robot"/>
+  <arg name="config_file"   default="$(find iri_rosnav)/params/pointcloud_to_laserscan.yaml" />
+  <arg name="scan_topic"    default="$(arg ns)/scan"/>
+  <arg name="cloud_topic"   default="$(arg ns)/points"/>
+  <arg name="output" default="screen" />
+  <arg name="launch_prefix" default="" />
+
+  <group ns="$(arg ns)">
+
+    <node name="pointcloud_to_laserscan"
+          pkg ="pointcloud_to_laserscan"
+          type="pointcloud_to_laserscan_node"
+          output="$(arg output)"
+          launch-prefix="$(arg launch_prefix)">
+      <remap from="/$(arg ns)/scan"     to="$(arg scan_topic)"/>
+      <remap from="/$(arg ns)/cloud_in" to="$(arg cloud_topic)"/>
+      <rosparam file="$(arg config_file)" command="load" />
+    </node>
+
+  </group>
+
+</launch>

params/pointcloud_to_laserscan.yaml

+target_frame: ""
+# Leave target_frame disabled to output scan in pointcloud frame
+transform_tolerance: 0.1
+min_height: -0.1
+max_height: 0.5
+angle_min: -3.14159 #-1.5708 # -M_PI/2
+angle_max: 3.14159  #1.5708 # M_PI/2
+angle_increment: 0.00335 # M_PI/360.0
+scan_time: 0.3333
+range_min: 0.1
+range_max: 40.0
+use_inf: true
+
+# Concurrency level, affects number of pointclouds queued for processing and number of threads used
+# 0 : Detect number of cores
+# 1 : Single threaded
+# 2->inf : Parallelism level
+concurrency_level: 1