Fovis_ros depth image format error

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Hello, I'm running ROS Hydro on Ubuntu 12.04 and trying to use the fovis_ros's mono_depth_odometer with a Kinect, but I'm facing the following problem:

First I tested the openni package with openni_launch enabling the depth_registration and verifying that it was publishing well both the rectified rgb and the depth images.

Then I saw there was a fovis_hydro_openni.launch file inside the fovis_ros folder and decided to try it, but it didn't work. I was getting the expected topics with no errors, but when I echoed them there were no messages coming from any of them; the odom → base_link tf was also not being published since the only tf was my base_link → camera (published with the static tf publisher).

I opted for making my own launch file, remapping the topics published by openni_launch to fit the requirements of fovis_ros. Here is the launch file (for some reason it didn't show up correctly when I pasted it here directly)

But after launching that file I got a Depth image must be in 32bit floating point format! error, here is the complete log.

I verified the documentation from openni_launch and the rgbd_launch and from what it says I think that the depth_registered/ sw_registered/ image_rect_raw topic is publishing the required rectify messages, since it calls depth_processing which converts uint16 to float.

The reason I'm using the sw_registered topic is because there is no rectified depth image topic under depth_register, there's only /camera/depth_registered/image_raw. Maybe I could use depth_image_proc on that topic, but openni_launch already uses the depth_processing, so it didn't seem logic.

Also, the fovis_ros package is still not publishing the expected tf, but maybe it's normal since I'm getting the depth image's error.

Thank you very much in advance.