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Hello,

With the depth kinect camera plugin you can change: widht, height, FOV and some others. But you can try with other type of sensor, for example range sensor. This will generate the cloud but not the RGB data.

<ray>
   <scan display="true">
      <horizontal>
      <samples>641</samples>
      <resolution>1.0</resolution>
      <min_angle>-0.5</min_angle>
      <max_angle>0.5</max_angle>
      </horizontal>
      <!--vertical samples="1" resolution="1.0" min_angle="-0.5236" max_angle="0.5236" /-->
    </scan>
    <range>
      <min>0.15</min>
      <max>30.0</max>
    </range>
  </ray>