Hi,
I'm a student doing my master thesis in Computer Vision In Stockholm.
I really appreciate your work:
http://www.ros.org/wiki/openni/Contests/ROS%203D/RGBD-6D-SLAM

it's really amazying!
I could reproduce with your guide your results:

I can get a file.bag with the following structure:(from 'rosbag info test_io_bag.bag').

path:        test_io_bag.bag
version:     2.0
duration:    55.8s
start:       Apr 02 2011 18:42:52.98 (1301762572.98)
end:         Apr 02 2011 18:43:48.77 (1301762628.77)
size:        253.7 MB
messages:    3366
compression: none [28/28 chunks]
types:       sensor_msgs/PointCloud2 [1158d486dd51d683ce2f1be655c3c181]
             tf/tfMessage            [94810edda583a504dfda3829e70d7eec]
topics:      /rgbdslam/batch_clouds     27 msgs    : sensor_msgs/PointCloud2
             /tf                      3339 msgs    : tf/tfMessage


I wanted to ask you how di you converted this file into a pcd file.
I mean, I already installed the pcd library,
there is a tutorial for that conversion (in perception_pcl/pcl_ros).

but when I launch the binary with my file I got this nice warning and errors:

------------
[ WARN] [1301814178.806957400]: TF_OLD_DATA ignoring data from the past for frame /openni_depth_frame at time 1.30176e+09 according to authority /bag_to_pcd
Possible reasons are listed at
[ WARN] [1301814178.808059520]: TF_OLD_DATA ignoring data from the past for frame /openni_rgb_optical_frame at time 1.30176e+09 according to authority /bag_to_pcd
Possible reasons are listed at
[ERROR] [1301814178.828736800]: Frame id /base_link does not exist! When trying to transform between /batch_transform and /base_link.
---------------




any suggestions? did you have some problems like this when you converted your "kinect-box-and-mug.bag"?
sorry for this message and to bother you, I tried to look for a solution for myself.. but I really got stucked here :(

Have a nice day,

Favio