<node pkg="depthimage_to_laserscan" type="depthimage_to_laserscan" name="depthimage_to_laserscan" output="screen">
<remap from="image" to="/camera/depth/image_raw"/>
<remap from="camera_info" to="/camera/depth/camera_info"/>
<param name="output_frame_id" value="/scan" />
</node>
<node pkg="depthimage_to_laserscan" type="depthimage_to_laserscan" name="depthimage_to_laserscan" output="screen">
<remap from="image" to="/camera/depth/image_raw"/>
<remap from="camera_info" to="/camera/depth/camera_info"/>
<param name="output_frame_id" value="/scan" />
</node>