Hi all, I started using ROS just few days ago. I've read the tutorial and played with the examples, but I'm still quite newbie of ros :) What I have to do is:getting the depth image from a simulated kinect, transform it into a point cloud, and make some other stuffs. I started launching turtlebotsimulator, that has a simulated kinect camera. I know that it already publish point cloud, but I need to start from the depth image. What I have done so far: 1) getting into gazebo.urdf.xacro of turtlebot, I added that line: /camera/depth/imageraw (anyone has hints to where to find all tags of libgazeborosopennikinect.so plugin?) 2)With that change I get /camera/depth/imageraw topic, and if I put myself in echo mode I can see the messages flowing. 3)Now, to be sure that this is the topic about depth image, I try to visualize it with depthviewer package. With that command, rosrun depthviewer depthviewer /camera/depth/image:=/camera/depth/imageraw I got the error [ERROR] [1339703608.513539886, 70.651000000]: Failed to transform depth image. I soon realized that the imageraw published by turtlebot is in uint16 [mm] format,while depthviewer needs it into float [m] format. So I found depthimageproc nodelet and used it with a launch file recommended: https://gist.github.com/2400165

well, the launch file runs fine and that nodelet creates a bunch of topics BUT, while echoing them no one give messages.Nothing into the converted /camera/depth/image,nothing into the registered point clouds camera/depthregistered/points. That my problem at the end; understanding how to make depthimage_proc working and getting my visualizable depth image and my freshly made cloud points.