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It's unlikely that anyone has time to teach you, you'll have to do that yourself. I would recommend going through the ros tutorials first.

But the openni_camera package within the openni_kinnect stack has a node that publishes on the /camera/rgb/points and /camera/depth/points topics.

In the future I would recommend that you try to ask more specific questions. Most people are unlikely to have the time or patience to answer open ended questions.

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