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My guess is, that you use openni_launch instead of openni_camera and need to adapt the topics in the launch file:
<param name="config/topic_image_mono" value="/camera/rgb/image_color"/>
<param name="config/topic_image_depth" value="/camera/depth_registered/image"/>
<param name="config/topic_points" value="/camera/depth_registered/points"/>
Also you need to enable registration of depth and color, e.g. via dynamic_reconfigure. See this answer for how to enable registration by default.