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This is something I recently discovered as well, you cannot subscribe to the same topic twice from within the same node. The second subscribers is just ignored and the callback will never be called. Try removing the

rospy.Subscriber('/kinect2/hd/image_color_rect',Image,rgb_callback)    
rospy.Subscriber('/kinect2/hd/image_depth_rect',Image,depth_callback)

and see if your scan callback is now called.