One of the new 3D depth sensors from Intel is Real Sense. The following link is the
ROS interface of Intel Real Sense: https://github.com/BlazingForests/realsense_camera

Before installing the ROS driver, we have to install the following packages for building the source code:

    $ sudo apt-get install libudev-dev libv4l-dev 

After installing, clone the ROS package to the src folder of catkin workspace:

    $ cd ~/catkin_ws/src
    $ git clone https://github.com/BlazingForests/realsense_camera.git
    $ catkin_make  

Launch the Real Sense camera driver and RViz using the following command:

    $ roslaunch realsense_camera realsense_rviz.launch

Launch Real Sense camera driver only:

    $ roslaunch realsense_camera realsense_camera.launch
  

Following are the topics generated by the Real Sense driver:

sensor_msgs::PointCloud2 
/camera/depth/points                point cloud without RGB 
/camera/depth_registered/points     point cloud with RGB 
 
sensor_msgs::Image 
/camera/image/rgb_raw               raw image for RGB sensor 
/camera/image/depth_raw             raw image for depth sensor 
/camera/image/ir_raw                raw image for infrared sensor