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The latest version of rgbdslam requires diamondback. See the changed wiki instructions: http://www.ros.org/wiki/openni/Contests/ROS%203D/RGBD-6D-SLAM

You may have to run make on the hogman_minimal package before trying to compile and run the rgbdslam package.

There have been a lot of changes lately, causing difficulties with compiling and executing this package but I just installed today a new download of diamondback, openni, and the freiburg packages and they ran without errors.

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