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dear xianke

i applied this step and his function pefetly : 1/ install openNI in your systeme

             sudo apt-get install libopenni0 libopenni-dev

             sudo apt-get install ros-indigo-openni-camera

             sudo apt-get install ros-indigo-openni-launch

2/ download driver of kinect : avin2

            git clone https://github.com/avin2/SensorKinect

when you download go to the file where is placed and install

           cd SensorKinect/Bin

for extract the file

           tar xjf SensorKinect093-Bin-Linux-x64-v5.1.2.1.tar.bz2

           cd Sensor-Bin-Linux-x64-v5.1.2.1

          sudo ./install.sh

in this step all of packages is installed you can test with commands:

roscore

rosrun rviz rviz

roslaunch openni_launch openni.launch

in rviz config topic in:

Displays >> Fixed frams >> camera link pount cloud2 >> TOPIC >> /camera/...............

                                                                          good look