fix many problem

src/sensing/pointcloud_preprocessor/launch/pointcloud_preprocessor.launch.xml

@@ -5,7 +5,7 @@
 
   <node pkg="pointcloud_preprocessor" exec="pointcloud_preprocessor_node" name="pointcloud_preprocessor" output="screen">
     <remap from="~/input/points" to="$(var points_topic)"/>
-    <remap from="~/output/filterd_points" to="$(var filtered_points_topic)"/>
+    <remap from="~/output/filtered_points" to="$(var filtered_points_topic)"/>
     <param from="$(var config_file)"/>
   </node>
 </launch>