depthimage_to_laserscan

edit

I am trying to use depthimage_to_laserscan but what I get is a /scan topic full of nan.

I also receive this warning:

[ WARN] [1406908060.059804588, 110.685000000]: [image_transport] Topics '/fotonic/depth/image_raw' and '/fotonic/depth/camera_info' do not appear to be synchronized. In the last 10s:
    Image messages received:      277
    CameraInfo messages received: 9
    Synchronized pairs:           9

Thank you.