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I am trying to visualize a fake laser scan using pointcloud and rviz. I made a launch file that seems to work.

<launch>
   <!-- kinect nodes -->
   <include file="$(find openni_launch)/launch/openni.launch"/>

   <!-- openni_manager -->

  <node pkg="nodelet" type="nodelet" name="openni_manager" output="screen" respawn="true" args="manager"/>

  <!-- throttling -->
  <node pkg="nodelet" type="nodelet" name="pointcloud_throttle" args="load pointcloud_to_laserscan/CloudThrottle openni_manager">
    <param name="max_rate" value="2"/>
    <remap from="cloud_in" to="/camera/depth/points"/>
    <remap from="cloud_out" to="cloud_throttled"/>
  </node>

  <!-- fake laser -->
  <node pkg="nodelet" type="nodelet" name="kinect_laser" args="load pointcloud_to_laserscan/CloudToScan openni_manager">
    <param name="output_frame_id" value="/camera_depth_frame"/>
    <remap from="cloud" to="cloud_throttled"/>
  </node>
</launch>

When launching

roslaunch pointcloud_to_laserscan openni_laser.launch

I do have a /scan topic and I can echo it to sees there are values published.

and then when I do rosrun rviz rviz I can see a perfect pointcould. I set Laserscan on /scan topic but it doesn't seem to receive any message. In fact, it says in the terminal that

[ WARN] [1366201830.911211858]: MessageFilter [target=/camera_depth_frame ]: Dropped 100.00% of messages so far. Please turn the [ros.rviz.message_notifier] rosconsole logger to DEBUG for more information.

Could anyone please help find the problem?

Hi, I've been struggling with this for a few hours. I created a package depending on openni, openni_camera and openni_launch.

My problem is: on compilation, i'm getting

Linking CXX executable ../bin/listener
/opt/ros/fuerte/stacks/openni_camera/lib/libopenni_nodelet.so: error: undefined reference to 'log4cxx::Logger::getLogger(char const*)'
/opt/ros/fuerte/stacks/openni_camera/lib/libopenni_nodelet.so: error: undefined reference to 'log4cxx::Level::getError()'
/opt/ros/fuerte/stacks/openni_camera/lib/libopenni_nodelet.so: error: undefined reference to 'log4cxx::Level::getWarn()'
/opt/ros/fuerte/stacks/openni_camera/lib/libopenni_nodelet.so: error: undefined reference to 'typeinfo for log4cxx::helpers::ObjectPtrBase'
/opt/ros/fuerte/stacks/openni_camera/lib/libopenni_nodelet.so: error: undefined reference to 'log4cxx::helpers::ObjectPtrBase::~ObjectPtrBase()'
/opt/ros/fuerte/stacks/openni_camera/lib/libopenni_nodelet.so: error: undefined reference to 'log4cxx::Level::getFatal()'

I thought it was whining about the fact that I didn't link the log4cxx library on compilation. So I added this in CMakeLists.txt

rosbuild_add_library(${PROJECT_NAME} /usr/lib/liblog4cxx.so)
SET_TARGET_PROPERTIES(${PROJECT_NAME} PROPERTIES LINKER_LANGUAGE C)

but it didn't change much. Then I tried the answer from another question (which I'm not allowed to mention giving my baby karma) suggesting to use target_link_libraries() but I couldn't use it successfully.

Any ideas? NB: I'm running fuerte on ubuntu 12.04. Thanks for your help