I'm having an strange problem. I have the PR2 running and I start the kinect with the predefined openni_head file. Then in my computer I launch the demo from moveit.

# server
roslaunch /etc/ros/openni_head.launch 
# computer   
roslaunch pr2_moveit_config demo.launch 

After that is launched for some reason the Robotstate display appears static with some default position of the robot and the MotionPlanner display appears with the good position.

I delete the *RobotState display because it's practically interfering, and then it looks good.

Now I use the PointCloud2 display with the topic /kinecthead/depthregistered/points and I get something that it's switching from one state to another. The 2 images below explain it all. The second one is the correct one.

One weird thing, it's that when I try to use rviz (without the demo.launch, only with the rosrun rviz rviz) and I add the PointCloud2 display and everything with the odom_combined as my fixed frame, rviz crashes every time. So now I'm only able to see these results only with the demo.launch file I said before.

I don't know what happens or why it happens. Hopefully you guys can help me with that.