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I did not get it to work with OpenNI either but OpenNI2 works with some minor changes. It should compile out of the box from my repo: https://github.com/kalectro/OpenNI2.git

I also wrote an openni2_camera package which runs on the raspberry and can stream the depth image as a ROS message with 30fps (when overclocked) https://github.com/kalectro/openni2_camera

I did not get it to work with OpenNI either but OpenNI2 works with some minor changes. It should compile out of the box from my repo: repo using make: https://github.com/kalectro/OpenNI2.git

I also wrote an openni2_camera package which runs on the raspberry and can stream the depth image as a ROS message with 30fps (when overclocked) https://github.com/kalectro/openni2_camera

After building OpenNI2 successfully and catkin_make ran through, navigate into OpenNI2/Bin/ReleaseX and call rosrun openni2_camera openni2_camera_node from here. Otherwise it will not find the Openni2 libraries