Depth image to Laser scan
1.Clone the package to your work space
$ git clone --branch hydro-devel https://github.com/ros-perception/depthimage_to_laserscan.git
2.Run the openni_launch file
$ roslaunch openni_launch openni.launch
3.Run the depth to laserscan node
$ rosrun depthimage_to_laserscan depthimage_to_laserscan image:=/camera/depth/image_raw
4.visualise the output /scan topic of type sensormsgs/laserscan
$ rosrun rviz rviz
...
