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I don't see why the ROS Navigation stack should only be used with robots with a kinect. The most common usecase is actually having a robot with laser scanners. You can configure the costmap (this is where sensor data is used) the way you want, also specifiying a maximum range to use. So this should work for your use case as well. The question is rather if this is really suitable for 3D path planning (which I am assuming you want to do). IMO, the ROS navigation stack is mainly for 2D, though some experiments have been made with 3D. Googling led me to the two following links, which look promising: 1, 2 (please note though, that I personally don't have any experience there).
Personally, I have good experience with OMPL. However, I cannot judge was is considered "hard to deal with", as this is highly subjective, IMO. An alternative would be sbpl
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