Kinect-like data publisher

[Parnia]

This is a new feature in which Kinect-like data is published in ROS.
The published topic are:
/camera/depth_registered/image_raw (RGB image)
/camera/rgb/image_rect_color (depth image)
/camera/rgb/camera_info (camera Information including camera parameters)
/tf (the relationship between coordinate frames)

You can use this python script to run RTAB-Map SLAM, or any other SLAMs.
This is a screen-shot of 3D map of RTAB-Map in Landscape Mountains environment, using data published by kinect_publisher.py:

[msftclas]

All CLA requirements met.

[BrunoXL]

@Parnia how you made to run RTMAP slam?
From their tutorial I tried to run kiinect only version but I got the error below that causes rgbd_odometry to crash:

   terminate called after throwing an instance of 'cv_bridge::Exception'
   what():  Image is wrongly formed: height * step != size  or  480 * 1920 != 110592

Dou you have any clue?