How to run rgbdslam on gazebo environment?

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My launch file:

  <launch>

    <!-- start up empty world -->
    <include file="$(find gazebo_worlds)/launch/simple_world.launch"/>

    <!-- start up robot -->
    <include file="$(find pr2_gazebo)/pr2.launch"/>

    <!-- Tug Arms For Navigation -->
    <node name="tuckarm" pkg="pr2_tuckarm" type="tuck_arms.py" args="-l t -r t" />

    <!-- for visualization -->
    <node pkg="rviz" type="rviz" name="rviz" args="-d $(find pr2_build_map_gazebo_demo)/rviz/build_map.vcg"/>

    <!-- dynamic map generation -->
    <node name="gmapping_node" pkg="gmapping" type="slam_gmapping" respawn="false" >
      <remap to="base_scan" from="scan"/>
      <param name="odom_frame" value="odom_combined" />
    </node>
    <!-- for PR2 teleop -->
    <include file="$(find pr2_teleop)/teleop_keyboard.launch"/>
  </launch>

I try to run:

  sam@/home/sam/code/ros/slam$ roslaunch rgbdslam kinect+rgbdslam.launch 
  ... logging to /home/sam/.ros/log/a4924062-fceb-11e1-b239-00120ebbd636/roslaunch-sam-System-Product-Name-10191.log
  Checking log directory for disk usage. This may take awhile.
  Press Ctrl-C to interrupt
  Done checking log file disk usage. Usage is <1GB.

  started roslaunch server http://sam-System-Product-Name:54997/

  SUMMARY
  ========

  PARAMETERS
   * /rosdistro
   * /openni_node1/use_indices
   * /rgbdslam/config/topic_image_mono
   * /openni_node1/depth_registration
   * /openni_node1/image_time_offset
   * /openni_node1/depth_frame_id
   * /openni_node1/depth_mode
   * /openni_node1/debayering
   * /rosversion
   * /openni_node1/projector_depth_baseline
   * /openni_node1/rgb_frame_id
   * /openni_node1/depth_rgb_translation
   * /openni_node1/depth_time_offset
   * /openni_node1/image_mode
   * /openni_node1/shift_offset
   * /openni_node1/device_id
   * /rgbdslam/config/topic_image_depth
   * /openni_node1/depth_rgb_rotation

  NODES
    /
      openni_node1 (openni_camera/openni_node)
      kinect_base_link (tf/static_transform_publisher)
      kinect_base_link1 (tf/static_transform_publisher)
      kinect_base_link2 (tf/static_transform_publisher)
      kinect_base_link3 (tf/static_transform_publisher)
      rgbdslam (rgbdslam/rgbdslam)

  ROS_MASTER_URI=http://localhost:11311

  core service [/rosout] found
  process[openni_node1-1]: started with pid [10209]
  process[kinect_base_link-2]: started with pid [10210]
  process[kinect_base_link1-3]: started with pid [10218]
  process[kinect_base_link2-4]: started with pid [10225]
  process[kinect_base_link3-5]: started with pid [10226]
  process[rgbdslam-6]: started with pid [10249]
  bool g2o::HyperGraphActionLibrary::registerAction(g2o::HyperGraphElementAction*): creating collection for "writeGnuplot"
  bool g2o::HyperGraphActionLibrary::registerAction(g2o::HyperGraphElementAction*): creating collection for "draw"
  SOLVER FACTORY WARNING: Overwriting Solver _creator pcg
  SOLVER FACTORY WARNING: Overwriting Solver _creator pcg3_2
  SOLVER FACTORY WARNING: Overwriting Solver _creator pcg6_3
  SOLVER FACTORY WARNING: Overwriting Solver _creator pcg7_3
  Initializing Node...
  [ INFO] [1347463889.446227314]: Connected to roscore
  [ WARN] [1347463889.495273123]: Cannot use concurrent node construction with SiftGPU matcher! 'concurrent_node_construction' was set to false. Everything should work fine, but the CPU-threading won't happen (because you are using the GPU instead).
  [ WARN] [1347463889.495310761]: Cannot use concurrent edge construction with SiftGPU matcher! 'concurrent_edge_construction' was set to false. Everything should work fine, but the CPU-threading won't happen (because you are using the GPU instead).
  [ INFO] [1347463889.612529297]: Listening to /camera/rgb/image_color and /camera/depth/image
  [ INFO] [1347463889.612577246]: SIFTGPU is to be used
  [ INFO] [1347463889.612615001]: SIFTGPU is to be used as extractor, creating SURF descriptor extractor as fallback.
  [ INFO] [1347463889.844371991]: [/openni_node1] No devices connected.... waiting for devices to be connected
  [ INFO] [1347463890.846078666, 733.741000000]: [/openni_node1] No devices connected.... waiting for devices to be connected
  [ INFO] [1347463891.847666108, 734.545000000]: [/openni_node1] No devices connected.... waiting for devices to be connected
  [ INFO] [1347463892.849301017, 735.345000000]: [/openni_node1] No devices connected.... waiting for devices to be connected

How to solve it?

Thank you~