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If you want to view it in an image viewer, you'd need to convert the depth image to a normal image, as shown below.

<launch>
  <node pkg="nodelet" type="nodelet" name="nodelet_manager" args="manager" />

  <node pkg="nodelet" type="nodelet" name="nodelet1"
        args="load depth_image_proc/convert_metric nodelet_manager">
    <remap from="image_raw" to="/l515/depth/image_rect_raw"/>
  </node>

  <node name="extract" pkg="image_view" type="extract_images" respawn="false" required="true" output="screen" cwd="ROS_HOME">
  </node>
</launch>

ref: http://wiki.ros.org/depth_image_proc