Revision history [back]

Are you using the realsense2_camera package?
You should be able to access the depth value of the pixel from the depth image that you get with the camera. It should be published on a topic like depth/image_raw (sensor_msgs/Image) and it should contain uint16 depth values in mm. About the angle, I am not sure if there is a simpler way but based on the depth value that you get you can calculate the angle using simple trigonometry.