Openni_Launch

This package is used to retrieve the informations from the kinect http://wiki.ros.org/openni_launch

First, you need to install the package

Then, if you want to see the images :

Open a terminal :

roslaunch openni_launch openni.launch

Open a new terminal :

to see the RGB image :

   
rosrun image_view image_view image:=/camera/rgb/image_color

—-to see the depth image :

   
rosrun image_view image_view image:=/camera/depth/image

  to see the disparity image : 
  
rosrun image_view disparity_view image:=/camera/depth/disparity

  to see the cloud point : 
rosrun rviz rviz 

Then, you have to configurate rviz, you can use the following tutorial http://wiki.ros.org/openni_launch/Tutorials/QuickStart