Point cloud and laser scan in ROS for Astra Pro

Hi, can anyone point me in the right direction to get Astra Pro to send point cloud or laser scan messages in ROS?

I manage to get it to display depth map and rgb image but could not find any point cloud data. Is this something that is available in GitHub - orbbec/ros_astra_camera: ROS wrapper for Astra camera or something that we need to code ourselves?

You should use the astra_launch ROS package.

I did, I have both astra_camera and astra_launch. But I can’t seem to find any point cloud data. What is the publish topic for the point cloud? I am running $ roslaunch astra_launch astrapro.launch