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Closing the window only quits rgbdslam. The launch-file you use also starts the camera driver (and a roscore if not yet running) which doesn't quit on rgbdslam's exit. So probably that is the problam, since the error message you get is from openni_node, not from rgbdslam itself. Either you set the required="true" option for rgbdslam node tag in the launchfile, so everything quits when rgbdslam quits. Or you can use a seperate launchfile for openni and rgbdslam (there are several available), so you can restart rgbdslam without starting a new openni instance. Or just kill the rest of the launched process with ctrl+c.