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There actually are various race conditions in the nodelets and in the OpenNI ROS driver, which I've been trying to stamp out lately. You can try the latest version with this rosinstall:

- other: {local-name: /opt/ros/electric/ros}
- other: {local-name: /opt/ros/electric/stacks}
- hg: {local-name: nodelet_core, uri: 'https://kforge.ros.org/common/nodeletcore'}
- svn: {local-name: image_pipeline, uri: 'https://code.ros.org/svn/ros-pkg/stacks/image_pipeline/trunk'}
- hg: {local-name: openni_kinect, uri: 'https://kforge.ros.org/openni/openni_ros'}

I'm working to release the affected stacks this week, but it would be helpful if you tried this out and reported whether there's any improvement.