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Converting depth/image_raw and rgb/image_raw -> rgb/points

Hi all,

I'm trying to use a piece of code that subscribes to camera/rgb/points. I'm using an XTIon Pro and I have topics depth/image_raw and rgb/image_raw available to me.

What to I need to run to, presumably, merge the two into camera/rgb/points or even just a point cloud?

Many thanks

Mark