[PCL_tutorial] No tf data.Fixed Frame camera_depth_frame does not exist
I followed this tutorial 4.1 ( http://wiki.ros.org/pcl/Tutorials ) and ran these with kinect v2
$ rosrun my_pcl_tutorial example input:=/narrow_stereo_textured/points2
$ rosrun rviz rviz
After that I selected camera_depth_frame for the Fixed Frame and select output for the PointCloud2 topic. But I could not see anything and rviz said "No tf data.Fixed Frame camera_depth_frame does not exist"
How can I get downsampled images? thank you.