Get only depth data from Kinect using libfreenect

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Hi,

In order to reduce the amount of CPU freenect nodelet is using on my robot I would like to get only the topic "camera/depth_registered/image_raw" cause this is the only one I need right now.

In case this is not posible, I would like to know if I can run freenect nodelet remotely. I try but as the camera is not connected to the PC running it I get the message "No devices connected". Is there any way by which I could execute it remotely?

And another problem I have is that if I execute "depthimage_to_laserscan" module in the remote PC (after launching freenect in the robot connected to Kinect) it does not work (I do not get any errors or warnings but the /scan topic does not show anything), however, in the robot it does work. Could it be cause one of ROS versions is Kinetic and the other one Indigo? This is the launch file:

<launch> <node pkg="depthimage_to_laserscan" type="depthimage_to_laserscan" name="depthima$ &lt;param name=" scan_height"="" value="3"/> <remap from="image" to="camera/depth_registered/image_raw"/> </node>

</launch>

Thanks in advance.