There is a launch file that uses rosbag to play back a recording of the system when getting input from an Intel Realsense D435 depth camera (producing point clouds) and a Slamtec rplidar A2M8 (producing laser scans). Note that this bag file is compressed and must be extracted before the launch file can be used.
There is a launch file that plays back the bag extracted bag file and runs the above interpreter node (for laser scans) and nodelet (for point clouds) to find moving objects. Rviz is used for visualization. The launch file can also be used for running a live system with the two given specific sensors.