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I had some troubles with ROS indigo, and then I tried installing ros-indigo-rgbd-launch ros-indigo-openni2-camera ros-indigo-openni2-launch, and also I modified the files sudo nano /usr/etc/primesense/GlobalDefaults.ini uncommented ";UsbInterface=2" . So The only problem that I have now is this warning "Warning: USB events thread - failed to set priority. This might cause loss of data...", If you want to try it.