Kinect freezes or loses rgb under openni_launch

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Figured this out! Similar root cause to this question, but with different symptoms.

The cause seems to be stray processes that don't shut down correctly from the last time the kinect was started.

1. xn processes. Find them with ps aux | grep -i xn. If this grep finds processes related to primesense or XnSensorServer, and the kinect is not running, kill them.
2. nodelet processes. Find them with ps aux | grep -i nodelet. They should have names like camera_nodelet_manager[1]. If no kinect is running, kill them.

I don't have direct proof that this is the solution, but I noticed that the kinects worked smoothly after I killed the above processes, after a day of continually crashing a few minutes after being started.

I'd recommend checking for the above processes and killing them before each time you launch a kinect. It could also help to always give the openni driver time to shut down normally, i.e. do ctrl-c and wait 10 seconds, rather than doing ctrl-\ to stop it immediately.

[1] Or xxx_nodelet_manager, if you ran openni.launch with camera:=xxx.