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For openni2_launch, there are several arguments that need to be set in order to get color point clouds. For the ASUS sensors, all you have to do is set depth_registration:=true, which will enable the hardware to create the color point clouds. This should give you /depth_registered/points which you can display in color. If you want to create color point clouds using software instead of hardware, then set depth_registration to false, and rgb_processing, depth_processing, and depth_registered_processing to true (should be set by default in openni2.launch). This should give you /depth/points which is not color, and /depth_registered/points which is in color. The problem I have discovered is that /depth_registered/points does not display correctly when using software depth registration. I do not get a color point cloud unless part of the camera is occluded and the point cloud is very small.

I would be curious to know if anyone else has had this problem or if it is repeatable for anyone else.