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Did you install the openni_camera package? If not, install it.
Then it is up to you to a) start the nodes you need by editing the kinect+rgbdslam.launch file b) create a /opt/ros/fuerte/stacks/openni_camera/launch/openni_node.launch file c) install openni_launch and change the kinect+rgbdslam.launch file by replacing "/openni_camera/launch/openni_node.launch" by "/openni_launch/launch/openni.launch"
I suppose option c) is by far the most easy, but it also creates a lot of nodes and topics, and there is a lot of information published in /tf(well, that at least is easy to stop, somewhere in the launchfile is a parameter like "use tf" or sth like that.
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