How to convert pointcloud as well as depth image of Kinect to laser scan?

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Depth registration is not enabled by default when launching openni_launch so there might not be a topic like /camera/depth_registered/points (try to visualise it in rviz). Instead just use /camera/depth/points. You don't need the colour information from the registered points anyway.

Thank you for your reply. I have modified the code: rosrun pointcloud_to_laserscan pointcloud_to_laserscan_node pointcloud:=/camera/depth/points , and I could get the /scan topic , but there is nothing in RVIZ, I could't visualize them in Rviz

<include file="$(find openni_launch)/launch/openni.launch"> <node pkg="pointcloud_to_laserscan" type="pointcloud_to_laserscan_node" name="pointcloud_to_laserscan"> <remap from="cloud_in" to="$(arg camera)/depth/points"/> <remap from="scan" to="$(arg camera)/scan"/>

This is my launch file, I don't know why there is little point in RVIZ? I know the result is wrong ,but I don't know why? can you help me ? Thank you!

So you have the scan topic, which you remap to something else <remap from="scan" to="$(arg camera)/scan"/> so I guess you tried to visualise that in rviz? But you can echo it, right? Does rviz complain about anything? Most likely the tf frame you are using as a global frame is not there.

By default, the global frame is /map so if you do not have a map then change the global frame to something else from the drop down menu. Have a look at the rviz user guide

If you get error when Fixed frame is map, you can change Fixed frame to "camera_link". It worked for me.

Hi, Chrissi and Ros User, Thank you for your help! I can get the laserscan points after modified the target_frame:"target_frame: camera_link". In view of the laserscan points number too little, I adjusted the parameters "angle_increment". Thanks again.