roscore

roslaunch openni_launch openni.launch

rosrun rviz rviz

Set the RViz options for Fixed Frame (at the top of the Displays panel under
Global Options) to camera_link.
On the left-hand side of the RViz panel, click on the Add button and choose the
PointCloud2 display option. Set its topic to /camera/depth/points.
Change Color Transformer of PointCloud2 to AxisColor

sudo apt-get install ros-indigo-depthimage-to-laserscan

rosrun depthimage_to_laserscan depthimage_to_laserscan image:=/camera/depth/image_raw

rostopic list

check for /scan topic

if yes continue otherwise ask.

On the left-hand side of the RViz panel, click on the Add button and choose the
Laserscan display option. Set its topic to /scan. Change Color Transformer of Laserscan to AxisColor