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If you are using the command:

roslaunch openni_launch openni.launch

to bring up the kinect, then you should subscribe to one of the "points" topic using a sensor_msgs/PointCloud2 message. So you have to include in your code:

#include <sensor_msgs/PointCloud2.h>

Then if you want to use this point cloud with PCL you have to convert it using the pcl_conversions package. I suggest you yo look at this link!