Kinect

To install only openni_camera:
sudo apt-get install ros-hydro-openni-camera

To install openni_launch:
sudo apt-get install ros-hydro-openni-launch

roslaunch openni_launch openni.launch

rosrun point_cloud pc_translator input:=/camera/depth_registered/sw_registered/image_rect_raw/compressed_depth

(rosrun rviz rviz; )

add display type 'pointcloud2'; fixed frame 'camera_link'; set pointcloud2 topic from drop down menu 'camera/depth_registered/points'