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Hi, sudhanshu_mittal's solution is fine. I add another option: in

turtlebot_description/urdf/turtlebot_gazebo.urdf.xacro

you have the description of the simulated kinect. Parameters

<clip>
    <near>0.05</near>
    <far>8.0</far>
</clip>

allows you to set pointcloud depth limits. In fact, I don't know why near limit it's 0.05... should be 0.4!

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