How to use kinect data to run RGBDSLAM over multiple machines?

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Hello, I want to use turtlebot to run RGBDSLAM: use a laptop connected kinect camera to obtain depth data and color data, and then through a wireless way to send the depth data and color data to the workstation side of the desktop, and then on the workstation side running RGBDSLAM. However, I encountered some problems.

1.on the workstation ssh -X turtlebot@IP_OF_TURTLEBOT

1. on the turtlebot: roslaunch openni_camera openni_node.launch
2. on the workstaion: rosrun rviz rviz

and i set the "FIxed frame : /openni_camera", and i can use rviz to see the depth data"/camera/depth/image_raw" and color data "/camera/rgb/image_mono". but the color data and the depth data seems not synchronized.when i got 2 depth data ,1 color data i got.

1. i want to use the color data and depth data in RGBDSLAM. and on the workstaion : rosrun rgbdslam rgbdslam the GUI Appear. but it always sits with blank screens in a 'waiting for image/motion' state.

2. in the web http://answers.ros.org/question/37513/running-rgbdslam-over-multiple-machines/ (link text) i set the "subscriber_queue_size" to a high value. The situation is still the same.

PS: my turtlebot laptop 32bit ubuntu 11.10. Electric workstaion desktop 64bit ubuntu 11.10 Electric Thanks in advance