How to get the topics data from kinect?

edit

I use ubuntu12.04 64 bits with ROS fuerte.

I follow BagRecordingPlayback tutorial.

I run:

  roslaunch openni_launch openni.launch depth_registration:=true
  optirun rosrun rviz rviz

I set the frame to /camera_link and add point cloud2 section to visualize /camera/depth_registered/points topic but get nothing.

I try to figure out what happened.

I follow several link of kinect problems, and I find some thread also have the similar situations.

I couldn't find an exact solvable solutions.

Can anyone help me step by step to solve this problem?

Thank you very much~

=========================

When I run:

  sam@sam:~$ rosrun image_view disparity_view image:=/camera/depth_registered/disparity
  Inconsistency detected by ld.so: dl-close.c: 759: _dl_close: Assertion `map->l_init_called' failed!
  sam@sam:~$

It shows the window with /camera/depth_registered/disparity title but no image on it.

I check the lib version without problems:

  sam@sam:~$ apt-cache policy libopenni-dev 
  libopenni-dev:
    Installed: (none)
    Candidate: 1.5.4.0-3+precise1
    Version table:
       1.5.4.0-3+precise1 0
          500 http://packages.ros.org/ros/ubuntu/ precise/main amd64 Packages
  sam@sam:~$ apt-cache policy libopenni-sensor-primesense-dev 
  libopenni-sensor-primesense-dev:
    Installed: (none)
    Candidate: 5.1.0.41-2+precise1
    Version table:
       5.1.0.41-2+precise1 0
          500 http://packages.ros.org/ros/ubuntu/ precise/main amd64 Packages
  sam@sam:~$

My roslaunch output is this link.

When I run freenect, it shows:

  sam@sam:~$ roslaunch freenect_launch freenect-registered-xyzrgb.launch 
  ... logging to /home/sam/.ros/log/92195ade-5b27-11e2-b007-e0b9a5f829db/roslaunch-sam-23199.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.

  while processing /opt/ros/fuerte/stacks/freenect_stack/freenect_launch/launch/freenect.launch:
  while processing /opt/ros/fuerte/stacks/freenect_stack/freenect_launch/launch/examples/include/produce-xyzrgb.launch:
  Invalid roslaunch XML syntax: [Errno 2] No such file or directory: u'/opt/ros/fuerte/stacks/freenect_stack/freenect_launch/launch/examples/include/produce-xyzrgb.launch'
  sam@sam:~$

What happened?

========================== Before plugin kinect on usb port 2.0:

  sam@sam:~$ lsusb
  Bus 001 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub
  Bus 002 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub
  Bus 003 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub
  Bus 004 Device 001: ID 1d6b:0003 Linux Foundation 3.0 root hub
  Bus 001 Device 002: ID 8087:0024 Intel Corp. Integrated Rate Matching Hub
  Bus 002 Device 002: ID 8087:0024 Intel Corp. Integrated Rate Matching Hub
  Bus 003 Device 003: ID 1a40:0101 Terminus Technology Inc. 4-Port HUB
  Bus 001 Device 005: ID 13d3:3362 IMC Networks 
  Bus 001 Device 004: ID 13d3:5710 IMC Networks 
  Bus 003 Device 004: ID 046d:c077 Logitech, Inc. 
  sam@sam:~$

After plugin kinect on usb port 2.0:

  sam@sam:~$ lsusb
  Bus 001 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub
  Bus 002 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub
  Bus 003 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub
  Bus 004 Device 001: ID 1d6b:0003 Linux Foundation 3.0 ...