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As 2ROSO said in his comment, use the depthimage_to_laserscan package. In a launch file it looks like this:

<!-- Convert the depth image to a laser scan -->
  <node pkg="depthimage_to_laserscan" type="depthimage_to_laserscan" name="depthimage_to_laserscan">
  <param name="scan_height" value="10"/>
  <remap from="image" to="/camera/depth/image_raw"/>
</node>

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