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The depth data from the Kinect is acquired processing the infrared (IR) map and the camera map. I believe there isn't a way to acquire the depth data without the other nodes.

I believe you can't access the data remotely because you're trying directly from a PC to access the Kinect in other pc. You should use the same PC connected to the Kinect to acquire the data and in other pc just subscribe to camera/depth_registered/image_raw in the other pc.