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I just tinkered around with it for awhile, using Miguel's suggestions. I've gotten some of it working.

<node pkg="tf" type="static_transform_publisher" name="tracker_link" args="0 0 0 1.57 0 1.57 /openni_depth_frame /openni_tracker_frame 100" />

rosparam set /openni_tracker/camera_frame_id openni_tracker_frame

However, this still flips everything right to left. Depending on whether you use the mirror parameter, it marks your left hand as your right, or flips the whole axis for the transforms.

Hopefully this is helpful enough to get someone else to tweak it so that it actually works.