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http://www.ros.org/wiki/depthimage_to_laserscan#depthimage_to_laserscan-1

roslaunch turtlebot_bringup 3dsensor.launch

rostopic echo /scan

See the launch file here: https://github.com/turtlebot/turtlebot/blob/master/turtlebot_bringup/launch/3dsensor.launch#L79


Or if you have the kinect up but not the laser, you can try:

rosrun depthimage_to_laserscan depthimage_to_laserscan image:=/camera/depth/image_raw

http://www.ros.org/wiki/depthimage_to_laserscan#depthimage_to_laserscan-1