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A simple solution is to edit the openni_kinect/openni_launch/launch/includes/device.launch file and add the following param setting to the driver nodelet

<param name="depth_registration" value="true" />

An alternative solution which works for me is to use the dynparam command-line tool from inside your own launch script, e.g.

<node pkg="dynamic_reconfigure" type="dynparam" name="dynparam" args="set /camera/driver depth_registration true" />

which avoids the need to edit the launch files in the openni_kinect package.