Passthrough filter launch

This follows https://github.com/pal-robotics/softkinetic/pull/6
One commit is only for keeping the indentation; I recommend installing Octosplit chrome plugin (https://chrome.google.com/webstore/detail/octosplit/mnkacicafjlllhcedhhphhpapmdgjfbb) and setting 'No whitespace' to review this PR.