Example:
<launch>
	<arg name="prefix" value="/top_camera" />
	<node name="ground_detector" pkg="ground_detector" type="ground_detector_node" output="screen">
		<param name="theta" value="12"/> <!-- xtion tilt angle -->
		<param name="ty" value="1.5"/> <!-- xtion y traslation -->
		<param name="debug" value="false"/> <!-- show the segmentation output -->
		<param name="groundThreshold" value="0.05" /> <!-- under this threshold is considered ground --> 
		<param name="voxel_size" value="0.06" /> <!-- voxel size -->
		<param name="min_height" value="1.0" /> <!-- min blob height -->
		<param name="max_height" value="2.0" /> <!-- max blob height -->
		<param name="min_head_distance" value="0.3" /> <!-- min distance between two heads -->
		<param name="sampling_factor" value="3" /> <!-- sampling cloud factor -->
		<param name="apply_denoising" value="false" /> 
		<param name="mean_k_denoising" value="5" /> <!-- meanK for denoising (the higher it is, the stronger is the filtering) -->
		<param name="std_dev_denoising" value="0.3" /> <!-- standard deviation for denoising (the lower it is, the stronger is the filtering) -->
		<param name="max_distance" value="6" /> <!-- detection rate in meters -->
		<param name="depth_topic" value="$(arg prefix)/depth/image_raw" />
		<param name="camera_info_topic" value="$(arg prefix)/depth/camera_info" />
		<param name="rgb_topic" value="$(arg prefix)/rgb/image_raw" />			
	</node>
	
	<node name="dispatcher_node" pkg="dispatcher_node" type="dispatcher_node" output="screen">
		<param name="min" value="1.5"/> <!-- min value for tracking only the face -->
	</node>
	
	<node name="people_detector" pkg="people_detection" type="people_detection_node" output="screen">
		<param name="dataset" value="$(find people_detection)/config/inria_detector.xml"/> <!-- dataset filename -->
		<param name="confidence" value="65."/> <!--min confidence for considering the blob as a person -->
		<param name="image_scaling_factor" value="1.5"/><!--scaling factor for image detection (if you increase it, the detection speed increses and the precision decreses) -->
	</node>
	
	<node name="visual_tracker" pkg="visual_tracker" type="visual_tracker" output="screen">
		<param name="image_scaling_factor" value="1.5"/><!--scaling factor for image detection (if you increase it, the detection speed increses and the precision decreses) -->
	</node>
	
</launch>