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Hi there. There is now a tutorial available about this very question, which I just finished following successfully. The tutorial is at http://mirror.umd.edu/roswiki/openni_launch(2f)Tutorials(2f)BagRecordingPlayback.html
The approach described there is very similar to the answer given by Felix Endres. The main idea is again to capture the raw data and then run the post-processing during playback. For using the Kinect pre-registered images the suggestion is to run openni_launch and then record only the following channels:
camera/depth_registered/image_raw.camera/depth_registered/camera_info.camera/rgb/image_raw.camera/rgb/camera_info.For playback it is necessary to:
/use_sim_time parameter to true.rosbag to publish /clock.openni_launch from starting the OpenNI driver.More details are at the source.
I would like to thank the author of the tutorial; very helpful.
I have some launch files which approximately follow this tutorial for recording sense data and playing it back, for fuerte: https://bitbucket.org/damienjadeduff/openni_bag/src
The two files you will want there, play.launch and record.launch do approximately what you'd think they should.
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