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Using the previous answer from @usman, I made it better by using a custom roslaunch file for openni and including the parameter:

<launch>
  <param name="/camera/driver/data_skip" value="2" />

  <include file="$(find openni_launch)/launch/openni.launch" >
    <arg name="depth_registration" value="true"/>
  </include>
</launch>

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