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Your problem is not really related to RGBDSLAM. You can not use roslaunch rgbdslam openni+rgbdslam.launch because this is for Kinect V1.

Your first step muss be: Your Kinect V2 muss run with ROS. You can find enough information in this FAQ and there: https://github.com/code-iai/iai_kinect2

Then you can create a modified launch file, see my post: http://answers.ros.org/question/230412/slam-with-kinect2/

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