I am having trouble visualizing a registered XYZRGB Pointcloud2 message in rviz using my Kinect and OpenNI. I am running ROS groovy on Ubuntu 11.10. I launch OpenNi with:

roslaunch openni_launch openni.launch depth_registration:=true

and I get the following output:

SUMMARY
========

PARAMETERS
 * /camera/depth/rectify_depth/interpolation
 * /camera/depth_registered/rectify_depth/interpolation
 * /camera/disparity_depth/max_range
 * /camera/disparity_depth/min_range
 * /camera/disparity_depth_registered/max_range
 * /camera/disparity_depth_registered/min_range
 * /camera/driver/depth_camera_info_url
 * /camera/driver/depth_frame_id
 * /camera/driver/depth_registration
 * /camera/driver/device_id
 * /camera/driver/rgb_camera_info_url
 * /camera/driver/rgb_frame_id
 * /rosdistro
 * /rosversion

NODES
  /camera/depth/
    metric (nodelet/nodelet)
    metric_rect (nodelet/nodelet)
    points (nodelet/nodelet)
    rectify_depth (nodelet/nodelet)
  /camera/rgb/
    debayer (nodelet/nodelet)
    rectify_color (nodelet/nodelet)
    rectify_mono (nodelet/nodelet)
  /
    camera_base_link (tf/static_transform_publisher)
    camera_base_link1 (tf/static_transform_publisher)
    camera_base_link2 (tf/static_transform_publisher)
    camera_base_link3 (tf/static_transform_publisher)
    camera_nodelet_manager (nodelet/nodelet)
  /camera/
    disparity_depth (nodelet/nodelet)
    disparity_depth_registered (nodelet/nodelet)
    driver (nodelet/nodelet)
    points_xyzrgb_depth_rgb (nodelet/nodelet)
    register_depth_rgb (nodelet/nodelet)
  /camera/ir/
    rectify_ir (nodelet/nodelet)
  /camera/depth_registered/
    metric (nodelet/nodelet)
    metric_rect (nodelet/nodelet)
    rectify_depth (nodelet/nodelet)

auto-starting new master
process[master]: started with pid [16003]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to a1c6d428-77b7-11e2-a2f6-0023148296f8
process[rosout-1]: started with pid [16016]
started core service [/rosout]
process[camera_nodelet_manager-2]: started with pid [16028]
process[camera/driver-3]: started with pid [16029]
process[camera/rgb/debayer-4]: started with pid [16050]
process[camera/rgb/rectify_mono-5]: started with pid [16076]
process[camera/rgb/rectify_color-6]: started with pid [16104]
process[camera/ir/rectify_ir-7]: started with pid [16138]
process[camera/depth/rectify_depth-8]: started with pid [16178]
process[camera/depth/metric_rect-9]: started with pid [16225]
process[camera/depth/metric-10]: started with pid [16275]
process[camera/depth/points-11]: started with pid [16342]
process[camera/register_depth_rgb-12]: started with pid [16407]
process[camera/depth_registered/rectify_depth-13]: started with pid [16478]
process[camera/depth_registered/metric_rect-14]: started with pid [16561]
process[camera/depth_registered/metric-15]: started with pid [16644]
process[camera/points_xyzrgb_depth_rgb-16]: started with pid [16734]
process[camera/disparity_depth-17]: started with pid [16839]
process[camera/disparity_depth_registered-18]: started with pid [16949]
process[camera_base_link-19]: started with pid [17075]
process[camera_base_link1-20]: started with pid [17175]
process[camera_base_link2-21]: started with pid [17279]
process[camera_base_link3-22]: started with pid [17407]
[ INFO] [1360964139.818215509]: Initializing nodelet with 4 worker threads.
[ INFO] [1360964145.019843740]: Number devices connected: 1
[ INFO] [1360964145.020321985]: 1. device on bus 002:12 is a Xbox NUI Camera (2ae) from Microsoft (45e) with serial id 'A00367A07613104A'
[ INFO] [1360964145.021616706]: Searching for device with index = 1
[ERROR] [1360964145.056855804]: Tried to advertise a service that is already advertised in this node [/camera/depth_registered/image_rect_raw/compressedDepth/set_parameters]
[ INFO] [1360964145.072552968]: Opened 'Xbox NUI Camera' on bus 2:12 with serial number 'A00367A07613104A'
[ERROR] [1360964145.122422746]: Tried to advertise a service that is already advertised in this node [/camera/depth_registered/image_rect_raw/compressed/set_parameters]
[ INFO] [1360964145.151001144]: rgb_frame_id = '/camera_rgb_optical_frame' 
[ INFO] [1360964145.151149135]: depth_frame_id = '/camera_depth_optical_frame' 
[ WARN] [1360964145.155915067]: Camera calibration file /home/marc/.ros/camera_info/rgb_A00367A07613104A.yaml not found.
[ WARN] [1360964145.155988894]: Using default parameters for RGB camera calibration.
[ WARN] [1360964145.156037920]: Camera calibration file /home/marc/.ros/camera_info/depth_A00367A07613104A.yaml not found.
[ WARN] [1360964145.156086029]: Using default parameters for IR camera calibration.
[ERROR] [1360964145.249034132]: Tried to advertise a service that is already advertised in this node [/camera/depth_registered/image_rect_raw/theora/set_parameters]

I can see that non-zero points are indeed being published by running

rostopic echo /camera/depth_registered/points

However, after adding a Pointcloud2 to rviz and subscribing to this topic, no point cloud appears. I would like to add that if I do not write depth_registration:=true when launching OpenNI (and now seeing points published under /camera/depth/points), I can indeed see this Pointcloud2 properly in rviz.

A similar thing is occuring with the disparity images. I can see the disparity image just fine when the cameras are not registered, but just see a grey image when they are registered. Note that for images and pointclouds, rviz does not raise any warnings or errors when subscribing to the registered versions, they just don't appear.

I have tried launching OpenNI without depth_registration:=true and then configuring it via rosrun rqt_reconfigure rqt_reconfigure, and I get the same result.

Any suggestions?