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Hi If you are really looking for a way to watch the live point cloud stream in ROS. Then, best and simplest way in ROS is through rviz. Follow the following instructions:


2.roslaunch openni_launch openni.launch (other tab)

3.rosrun rviz rviz (another tab)

Once the rviz is open, change the Fixed Frame topic in Global Options to "/camera_depth_optical_frame" Next Add PointCloud2 from and change the topic to "points (sensor_msgs/PointCloud2)".