You guys are so fast! I don't see the bag file in the link in 5. Example on the wiki though. 

On Nov 12, 2010, at 5:58 PM, Ivan Dryanovski <ivan.dryanovski@gmail.com> wrote:

> Dear ROS community,
> 
> We have developed a driver for the Kinect RGB-D sensor for ROS. The
> driver uses Hector Martin's libfreenect [1] library, and currently
> outputs a PointCloud, an Image, and a CalibrationInfo topic. The
> relationship between depth readings and actual distance is determined
> through experimental calibration. The release incorporates
> contributions from Stéphane Magnenat's work on a Kinect driver.
> 
> The documentation for the driver, calibration results, and example
> video are available at the wiki page:
> 
> http://www.ros.org/wiki/kinect_node
> 
> http://www.youtube.com/watch?v=jQgnuupBUI4
> 
> Thank you,
> 
> Ivan Dryanovski
> William Morris
> 
> [1] http://git.marcansoft.com/?p=libfreenect.git
> _______________________________________________
> ros-users mailing list
> ros-users@code.ros.org
> https://code.ros.org/mailman/listinfo/ros-users