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The TurtleBot simulates laser data from the Kinect data. To get laser data out you need to have the depth clouds coming in and then depthimage_to_laserscan running to generate the laser scan. This does not run by default, but is turned on when youdo calibration and by the follower. If you want to do a different demo or application make sure to include the launch file which turns on the depth camera and does the laser conversions.