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

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