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I tried the remapping but it didn't help me neither. So I tested a few combination of the packages.

First I completly removed everything installed from source, so just ros-fuerte-openni-launch and ros-fuerte-openni-camera and their dependencies as they come from apt-get.

• Xtion: Works very well. The depth_registration works as expected. If you turn it off, no dept_registered topics are published. If you turn it on, the point clouds are aligned and the scanning works fine. Both with and without camera calibration.
• Kinect: Confusing. If depth_registration is turned off, the corresponding topics are published anyway and are not at all depth_registered with the standard calibration files. With our calibration files the registered pointcloud looks ok in rviz. In both cases the scanned pointclouds do not align. When turning depth_registration on, no point clouds (at all!) are published (with/without custom calibration files).

Then I installed Openni and SensorKinect from source (OpenNI-Bin-Dev-Linux-x86-v1.5.4.0, Sensor-Bin-Linux-x86-v5.1.2.1) without touching any ros package.

• Kinect: works, but confusing. If depth_registration is turned off, same as before. But when turning it on, the topics are published. With custom calibration files the scans do not align, without they do.
• Xtion: "No devices connected.... waiting for devices to be connected"

So whatever configuration, it's a pain in the ass. One could continue to check different unstable versions of openni-camera and openni-launch against different OpennNi/SensorKinect versions. Maybe there is a working combination for both the Kinect and Xtion, or have a look into the groovy packages, but I'll stop here.

However, this wasn't a RoboEarth issue!