xtion depth_image to point_cloud

edit

Hi All,

Now I know I missing something supid here - I#m usnig the launch script below to convert the depth_image into a point cloud. What am I missing. The service starts but my topics aren't linking up

UPDATE:

I've updated the launch file to make it simpler

  <launch>
    <!-- Nodelet manager for this pipeline -->
    <node pkg="nodelet" type="nodelet" args="manager" name="depth_transforms_manager" output="screen"/>
    <!-- Convert to point cloud -->
    <node pkg="nodelet" type="nodelet" name="cloudify" args="load depth_image_proc/point_cloud_xyz depth_transforms_manager --no-bond">

    <!-- Input: Camera calibration and metadata.  (sensor_msgs/camera_info) -->
    <remap from="camera_info"      to="/openni2_camera/depth/camera_info"/> 
    <!-- Input: Rectified depth image, registered to the RGB camera. (sensor_msgs/Image) -->
    <remap from="image_rect" to="/openni2_camera/depth/image_raw"/>        
    <!-- Output: XYZ point cloud. If using PCL, subscribe as PointCloud<PointXYZ>.  (sensor_msgs/PointCloud2)  -->
    <remap from="points" to="/openni2_camera/depth/points"/>

</node>
</launch>

This are the available topics

UPDATE: And now I can see Cloudify and the depth_transform_manager

However I there is no connectivity between the depth_transform_manager and the openni2_camera depth topics and I can't see why not? camera_info and image_rect should be remapped to /openni2_camera/depth/camera_info and /openni2_camera/depth/image_raw respectively.

Any suggestions?

Many Thanks

Mark