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So I don't know exactly for ROS, but for the native ViSP library it already includes a class for freenect (kinect v1) you can check it here so I have used it to create some applications, for example to track some blobs. Check this repository you can write you own ros node in the same manner, use (tutorial-kinect-sensor.cpp and tutorial-barcode-detector.cpp) to produce what you want then you can write your own launch file or just run it directly.

Hopes this helps, Cheers!