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You should convert your depth image from scaled values to meters (as 32-bit float), as described in REP- 0118, and publish this as a sensor_msgs/Float .

Then run the depth_image_proc/point_cloud_xyz node from depth_image_proc, and remap its image_rect topic to the topic where you are publishing your depth image. This will publish sensor_msgs/PointCloud2 messages on the points topic.

You can then view these messages with the PointCloud2 display type in rviz. (make sure your fixed frame in rviz matches the frame_id)