@abilbaotm As a general comment, I've found that the documentation could benefit by going into more detail about the setup and configuration used to execute the examples you give. For instance, in the following example:
The openni driver is run on the erle brain, while image_view and rviz are run remotely on a laptop or PC. This requires that the network and ROS_MASTER_URI be configured correctly between the erle and the PC. It would be good to mention these prerequisites in the documentation and provide a link where users can find instructions on how to configure their setup. This would make the documentation more self contained and help relieve some of the load on the support forum.