1 安装
（1）下载源码
gti clone https://github.com/ros-perception/depthimage_to_laserscan
（2）编译安装
cd ~/catkin_ws/src
catkin_make
（3）预先条件
安装了kinect v2的包：https://github.com/code-iai/iai_kinect2
2 运行（指令）
roslaunch kinect2_bridge kinect2_bridge.launch
rosrun depthimage_to_laserscan depthimage_to_laserscan image:=/kinect2/sd/image_depth_rect
3 其它参考
http://wiki.ros.org/depthimage_to_laserscan
http://answers.ros.org/question/62990/add-depth-image-to-laser-scan-in-a-launch-file/