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Flow is correct. I assume you are getting proper point cloud from Asus Xtion. Try same flow with depthimage_to_laserscan package

If you're trying to create a virtual laserscan from your RGBD device, and your sensor is forward-facing, you'll find depthimage_to_laserscan will be much more straightforward and efficient since it operates on image data instead of bulky pointclouds.

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