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tfoote, thanks for your answer. I had the same problem and used your advice.
Firstly, I'd like to add more detailed answer.
Edit the parameter "Image"->"Image Topic" to possible value (for example, "/camera/rgb/image_raw"). You can find possible values click on the drop-down list on the "Image"->"Image Topic". It works only for this session.
If you want to make changes to all sessions, edit this parameter in the config: robot.rviz. You can find the path in File->Open Config. In robot.rviz find "Class: rviz/Image" and edit "Image Topic".
Secondly, I'd like to add other decision. You can use current Topic (at least "/camera/rgb/image_rect_color"). Install "openni" and launch it: