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As the error message says, the driver can't publish both RGB and IR images at the same time. rosbag record -a tries to subscribe to ALL advertised topics, thus asking the kinect driver for both RGB and IR, which it can't do. It doesn't seem like the right behavior is for the driver to crash, as you're seeing, but I'm not sure what the right thing for it to do would be.
The solution for now is to specify all the topics you want rather than using -a. On a side note, using -a with the kinect would produce huge bag files very quickly, and your computer probably wouldn't be able to keep up anyway.
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