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The packages listen on the /camera/depth_registered/points, /camera/depth_registered/image and /camera/depth_registered/camera_info. According to this answer, the openni driver publishes the not-registered point clouds under said topics.

As a first trial, I would try remapping the /camera/depth_registered/image and /camera/depth_registered/camera_info topics to camera/rgb/camera_info and camera/depth/image, respectively, and see what happens.

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