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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