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Your overall idea and approach is correct.

I think you are running into a problem with tf's here. You are publishing a static tf to /openni_depth_frame, but (if you are using the openni launch files) there is already a static tf being published from openni_camera to openni_depth_frame. Try it without the static tf line in your launch file. You want your setup to be the following:

world_frame: world
base_frame: openni_camera
scan_frame: openni_depth_frame

Pass the world_frame and base_frame parameters to csm.

Once you get your tf's working, we can look into what matching parameters work best.