I use different devices in combination with ROS modules to generate the Point Cloud.

For example for Intel RealSense: https://github.com/BlazingForests/realsense_camera 
For Asus Xtion: http://wiki.ros.org/openni2_launch
For Microsoft Kinect2: https://github.com/code-iai/iai_kinect2

Does this answer your question?

2016-02-12 4:06 GMT+01:00 Daniel Johnson <teknotus@gmail.com>:
> You find the source code on GitHub:
> https://github.com/RodBelaFarin/ros_in_hand_scanner

Are you using another ROS module to get the data?



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Patrick Wiesen B.Eng.
Fachbereich Maschinenbau und Mechatronik
Fachgebiet Automatisierungstechnik und Robotik
FH Aachen
University of Applied Sciences
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