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Hi, there are three main topics advertised in most RGBD cameras:

• camera_info displays information related to the camera itself, like the size of the image and those parameters that "calibrate" it
• image_raw is the image itself, like the name suggests. Each number corresponds to pixel intensity
• depth/points is the one you are interested, as it displays the distance for each reading. You can also view this topic in rviz

If you want, I made explaining the topics from a depth camera: https://youtu.be/G0U-s0KOqa0