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Thanks AlexR for the info.

I have tried to use rgbd_slam I have a problem when I execute:

$ rosdep install rgbdslam_freiburg

ERROR: Rosdep cannot find all required resources to answer your query
Missing resource rgbdslam_freiburg                                                                  
ROS path [0]=/opt/ros/fuerte/share/ros                                                               
ROS path [1]=/opt/ros/fuerte/share                                                                   
ROS path [2]=/opt/ros/fuerte/stacks

And I can not doing anymore.

I think RGBDSLAM v2 does not work in ROS fuerte, It says:

Prerequisites

Ubuntu 12.04 - 13.04
ROS hydro
Problems may occur when using a version of the PCL library different from the ROS hydro version.

More ideas?