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Yes there is. It is documented in the following page.
https://aibegins.net/2020/11/22/give-your-next-robot-3d-vision-kinect-v1-with-ros-noetic/
I belive you dont need the first part for a working ros stack. You may start with (for short): (you may need to install some dependencies)
cd ~/catkin_ws/src git clone https://github.com/ros-drivers/freenect_stack.git cd .. catkin_make source devel/setup.sh roslaunch freenect_launch freenect.launch depth_registration:=true
Then start rviz and configure with: ‘Global Options’: ‘Fixed Frame’ > ‘camera_link’. Add display ‘pointcloud2’ and set topic to ‘/camera/depth_registered/points’
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