How to run/install and run nodelet. (Point cloud from Realsense .bag record)

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Hello. I need to get point cloud data from .bag file recorded from Realsense camera. This record contain topic with depth data.

I found the nodelet depth_image_proc but i cannot understand how to run it.

Should I install it or it's already installed with ROS? If I have to install it, how to do it?
How to run it properly?

I found this tutorial. But I don't see any description how to install an nodelet. Only this line: "We will assume that nodelet_tutorial_math has been installed (ros-$ROS_DISTRO-nodelet-tutorial-math) and a roscore is running."

Tried to run it with next command:

rosrun nodelet nodelet load depth_image_proc/point_cloud_xyzrgb __name:=point_cloud_xyzrgb

but got:

Your usage: 
/opt/ros/kinetic/lib/nodelet/nodelet load depth_image_proc/point_cloud_xyzrgb __name:=point_cloud_xyzrgb 
nodelet usage:
nodelet load pkg/Type manager [--no-bond]  - Launch a nodelet of type pkg/Type on manager manager
nodelet standalone pkg/Type   - Launch a nodelet of type pkg/Type in a standalone node
nodelet unload name manager   - Unload a nodelet by name from manager
nodelet manager               - Launch a nodelet manager node

It looks like there is an excess "nodelet" word. Tried to run next command

rosrun nodelet load depth_image_proc/point_cloud_xyzrgb __name:=point_cloud_xyzrgb

and got:

[rosrun] Couldn't find executable named load below /opt/ros/kinetic/share/nodelet

• ROS Kinetic full desktop
• Ubuntu 16.04 x86_64

Thank you in advance.