example.launch

<launch>
  
    <include file = "$(find rtt_ros)/launch/deployer.launch">
      <arg name="DEPLOYER_ARGS" value = "-s start.ops"/>
      <arg name="LOG_LEVEL" value="debug"/>
      <arg name="DEBUG" value="false"/>
    </include>
 

    <node name="urg_node" pkg="urg_node" type="urg_node" output="screen">
        <rosparam>
            ip_address: 192.168.0.10
            frame_id: base_laser
            publish_multiecho: false
            angle_min: -0.01
            angle_max: 0.01
            skip: 0
        </rosparam>
    </node>
  
    <node name="scan_filter" pkg="laser_filters" type="scan_to_scan_filter_chain" output="screen">
        <remap from="scan" to="scan"/>
        <remap from="scan_filtered" to="scan_filtered"/>
        <rosparam>
            scan_filter_chain:
            - type: laser_filters/LaserArrayFilter
              name: laser_median_filter
              params: 
                range_filter_chain:
                  - name: median_5
                    type: filters/MultiChannelMedianFilterFloat 
                    params:
                      number_of_observations: 5
                      unused: 10
                intensity_filter_chain:
                  - name: median_5
                    type: filters/MultiChannelMedianFilterFloat 
                    params:
                      number_of_observations: 5
                      unused: 10
        </rosparam>
    </node>

</launch>