Kinect depth registration not working on Fuerte and Groovy

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Hi,

I'm trying to use a Microsoft Kinect with openni_launch but it does not seem to works when I activate the depth registration.

Depending on the ROS version I use, it works... or not !

I have 3 configurations :

• First one (depth registration works and output the correct point cloud) :

Ubuntu 11.04 / ROS-electric

joffrey@joffrey-laptop:~$ ls -lh /dev/bus/usb/002
total 0
crw-rw-r-- 1 root root  189, 128 2013-02-10 16:46 001
crw-rw-r-- 1 root root  189, 129 2013-02-10 16:46 002
crw-rw-rw- 1 root video 189, 130 2013-02-10 16:46 003
crw-rw-rw- 1 root video 189, 131 2013-02-10 16:46 004
crw-rw-rw- 1 root video 189, 132 2013-02-10 16:47 005

Then I launch the openni_launch :

[ INFO] [1360511347.490430446]: Number devices connected: 1
[ INFO] [1360511347.490702621]: 1. device on bus 002:05 is a Xbox NUI Camera (2ae) from Microsoft (45e) with serial id 'A00365A11502110A'
[ INFO] [1360511347.491936313]: Searching for device with index = 1
[ INFO] [1360511347.558953638]: Opened 'Xbox NUI Camera' on bus 2:5 with serial number 'A00365A11502110A'
[ INFO] [1360511347.580108921]: rgb_frame_id = '/camera_rgb_optical_frame'
[ INFO] [1360511347.580986069]: depth_frame_id = '/camera_depth_optical_frame'

• Second one (depth registration does not works and only output a no-corrected pointCloud) :

Ubuntu 12.04 / ROS-fuerte

jbot@jbot-computer:~$ ls -lh /dev/bus/usb/001
total 0
crw-rw-r-- 1 root root  189, 0 Feb 11 20:23 001
crw-rw-r-- 1 root root  189, 1 Feb 11 20:23 002
crw-rw-rw- 1 root video 189, 3 Feb 11 20:23 004
crw-rw-rw- 1 root audio 189, 4 Feb 11 20:23 005
crw-rw-rw- 1 root video 189, 5 Feb 11 20:23 006

Then I launch the openni_launch :

[ INFO] [1360610712.386774453]: Number devices connected: 1
[ INFO] [1360610712.387187736]: 1. device on bus 001:06 is a Xbox NUI Camera (2ae) from Microsoft (45e) with serial id 'A00365A11502110A'
[ INFO] [1360610712.388781935]: Searching for device with index = 1
[ INFO] [1360610712.457443795]: Opened 'Xbox NUI Camera' on bus 1:6 with serial number 'A00365A11502110A'
[ INFO] [1360610712.515264262]: rgb_frame_id = '/camera_rgb_optical_frame'
[ INFO] [1360610712.515401560]: depth_frame_id = '/camera_depth_optical_frame'

• Third one (depth registration does not works and only output a no-corrected pointCloud) :

Ubuntu 12.04 / ROS-groovy

jbot@jbot-carole:~$ ls -lh /dev/bus/usb/001
total 0
crw-rw-r-- 1 root root  189, 0 Feb 11 21:18 001
crw-rw-r-- 1 root root  189, 1 Feb 11 21:18 002
crw-rw-r-- 1 root root  189, 2 Feb 11 21:18 003
crw-rw-r-- 1 root root  189, 3 Feb 11 21:20 004
crw-rw-rw- 1 root video 189, 4 Feb 11 21:20 005
crw-rw-rw- 1 root audio 189, 5 Feb 11 21:20 006
crw-rw-rw- 1 root video 189, 6 Feb 11 21:20 007

Then I launch the openni_launch :

[ INFO] [1360614100.569994039]: Number devices connected: 1
[ INFO] [1360614100.570205756]: 1. device on bus 001:07 is a Xbox NUI Camera (2ae) from Microsoft (45e) with serial id 'A00365A11502110A'
[ INFO] [1360614100.571850761]: Searching for device with index = 1
[ INFO] [1360614100.620895093]: Opened 'Xbox NUI Camera' on bus 1:7 with serial number 'A00365A11502110A'
[ INFO] [1360614100.650978646]: rgb_frame_id = '/camera_rgb_optical_frame'
[ INFO ...