Use Xtion on ROS indigo

Environment: ROS indigo and Ubuntu 14.04

Note:
If using usb 3.0 or above, should turn it down in BIOS(Advance->USB->xhci) disable xhci

 Install dependencies:

$ sudo apt-get install ros-indigo-rgbd-launch ros-indigo-openni2-camera ros-indigo-openni2-launch

Install package rqt and useful plugins: sudo apt-get install ros-indigo-rqt ros-indigo-rqt-common-plugins ros-indigo-rqt-robot-plugins

 Open Terminal 1

$ roscore

 Open Terminal 2: launch openni2.launch

$ roslaunch openni2_launch openni2.launch

 Open Terminal 3: Open RVIZ to visualize

$ rosrun rviz rviz

Show the depth image by adding its topic

Finally, show IR, Depth, RGB image, and point cloud by adding all of their topics in Rviz:

You can also try my Gist:
https://gist.github.com/tzutalin/175776fe02a9496a7778