ethzasl_icp_mapper service Minimal Example

I'm trying to use the ethzasl_icp_mapper service to match some very simple point clouds. However, I get errors like: ICP failed to converge: no outlier to filter I create two simple point clouds and try to line them up using the MatchClouds service. http://pastebin.com/2seS1jUq Is this example too simple? Am I missing something? (currently using groovy_released, but have tried other versions with similar results)