Hello,

If you only need colored point clouds from the kinect, just use the kinect
package. From the documentation, it seems the same as kinect_pcl except it
is not in a nodelet.
It works very well and produces colored sensor_msgs/PointCloud2 messages
directly. Follow the steps described 
http://www.ros.org/wiki/kinect/Tutorials/Getting%20Started here  to get it
working in 2 minutes.
If you really need the pcl point cloud format, you can convert the
PointCloud2 using pcl::fromROSMsg().

It you really want to use kinect_pcl, I think you will have to dig in the 
http://www.ros.org/wiki/nodelet nodelet  pakage.

I hope it helps

Raph

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