參考：
http://www.cnblogs.com/cj2014/p/4007165.html
http://www.cnblogs.com/huicanlin/p/5442479.html
http://answers.ros.org/question/62990/add-depth-image-to-laser-scan-in-a-launch-file/
http://answers.ros.org/question/190377/how-to-setup-xtion-pro-live-ubuntu-1404-openni12/

http://wiki.ros.org/depthimage_to_laserscan

1.安裝ROS的openni包

sudo apt-get install ros-<rosdistro>-openni2-camera
sudo apt-get install ros-<rosdistro>-openni2-launch
2.安裝ROS的
 
depthimage_to_laserscan包
cd ~/catkin_ws/src/
git clone https://github.com/ros-perception/depthimage_to_laserscan.git  #克隆失敗，可以手動去github上下載
進入depthimage_to_laserscan/cfg/Depth.cfg文件，將output_frame_id的取值改寫成laser
cd ~/catkin_ws/src
catkin_make
3.運行
roslaunch openni2_launch openni2.launch
source ~/catkin_ws/devel/setup.bash
rosrun depthimage_to_laserscan depthimage_to_laserscan image:=/camera/depth/image_raw
 

將xtion pro的depthimage轉換為LaserScan