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Assumes that you are using hydro.

To simulate turtlebot, you don't have to launch minimal and 3d sensor. You can control both 3d sensor and robot with the command below.

roslaunch turtlebot_gazebo turtlebot_empty_world.launch

/camera/depth/points will give you 3d data. check with this command

rostopic bw /camera/depth/points 

or bringup rviz and see.

Assumes that you are using hydro.

To simulate turtlebot, you don't have to launch minimal and 3d sensor. You can control both 3d sensor and robot with the command below.

roslaunch turtlebot_gazebo turtlebot_empty_world.launch

or

roslaunch turtlebot_gazebo turtlebot_playground.launch

/camera/depth/points will give you 3d data. check with this command

rostopic bw /camera/depth/points 

or bringup rviz and see.

roslaunch turtlebot_rviz_launchers view_robot.launch