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I would check the launch file at turtlebot_navigation amcl_demo.alunch and see if the parameter depth_registration is true. In general, setting depth_registration to true when running roslaunch openni_launch openni.launch (which is launched via amcl_demo.launch) will kill the regular camera/depth/image, and vice versa.
After launching amcl_demo.launch, try rosrun rqt_reconfigure rqt_reconfigure and select /camera/driver from the drop-down menu. When the depth_registration checkbox is checked, then camera/depth_registered/image_raw should display correctly, but not camera/depth/image. Unchecking it should swap it back.
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