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Thanks Chad and Davesana
We tried the solution of Davesana first by executing the above launch file, but there was a problem that the /scan topic is still not published. However, we run the command
rosrun depthimage_to_laserscan depthimage_to_laserscan image:=/camera/depth/image_raw
in another terminal, and it worked.
We also tried Chad solution.
when running the command roslaunch turtlebot_bringup 3dsensor.launch
it does not publish the /scan topic. Also, even when we executed the command
rosrun depthimage_to_laserscan depthimage_to_laserscan image:=/camera/depth/image_raw
in another terminal. It did not worked too.
We actually replaced the command 3dsensor.launch by the command
roslaunch openni_launch openni.launch
and it worked with the rosrun depthimage_to_laserscan.
Thanks
Anis