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I do not think that openni-dev ist the problem in this case. We were able to install and run rgbdslam on two other machines (vm and real notebook) with a few workarounds. Then we tried the same steps on our QBO robot but there we get this error above. I could not find anything to this "liboctomap_server.so" error.

Linking CXX executable ../bin/rgbdslam
    /opt/ros/hydro/lib/liboctomap_server.so: undefined reference to `ros::console::print(ros::console::FilterBase*, void*, ros::console::levels::Level, char const*, int, char const*, char const*, ...)'
    /opt/ros/hydro/lib/liboctomap_server.so: undefined reference to `ros::console::print(ros::console::FilterBase*, void*, ros::console::levels::Level, std::basic_stringstream<char, std::char_traits<char>, std::allocator<char> > const&, char const*, int, char const*)'
    collect2: ld returned 1 exit status
    make[3]: *** [../bin/rgbdslam] Error 1