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This error has been reported many times yet. You should try to launch roslaunch openni_launch openni.launch depth_registration:=false instead of 3dsensor.launch. I bet you will have better results.

If not, then you might be struggling with a different problem.

I don't know exactly why, but it seems that depth_registration is not available on Turtlebot2's 32-bits laptop, and 3dsensor.launch set it to true by default. Some people switched to a 64-bits computer and said it worked better. I personally did follow this tutorial : to reinstall the kinect on the 32-bits laptop and then upgraded the ROS packages again. It did solve the problem on my Turtlebot2.

But if you don't need registered topic, just edit 3sensor.launch and set depth_registration to false...