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That warning indicates that nothing is being published to the /camera/rgb/image_color topic, but that the image_view has successfully subscribed to it. You should verify that an image from your xtion is indeed published to that topic. To do that, you can use "rostopic hz /camera/rgb/image_color" command. This will output the rate at which images are being published to that topic. If you find that there is nothing being published, use either "rostopic list" or "rosrun rqt_graph rqt_graph", to figure out the correct topic name that you should use. Otherwise you can refer to RViz, under Display types - check which topic you're subscribed to for your Image and check for spelling mistakes.