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I'm assuming you're using the instructions here: http://wiki.ros.org/hydro/Installation/Ubuntu
Have you tried installing the full package with the sudo apt-get install ros-hydro-desktop-full
command instead of just sudo apt-get install ros-hydro-desktop
? You say the problem appears related to PCL/Openni and if I'm not mistaken those might fall under the "2D/3D simulators, navigation and 2D/3D perception" category that this installation includes. Hope this helps.