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Yes there is. It is documented in the following page.

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 cd .. catkin_make source devel/ 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’