looks at 'laser_origin' tf frame.
projects virtual ray from that frame
travels along until that ray intersects a pointcloud in the world
publishes a new point cloud with the point of intersection
home version is meant for me (Amelia)
camera_orient goes along with that version (since everything in mine is all rotated 90 degrees this fixes that)
virtual_laser.py is for scooter (idk if it is working in its current state)