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Hi, P3AT can be used with the help of P2OS. Kinect can be used with the help of openni_camera package. I suggest you to try them individually and test the packages to have a feel of it. Then you may have to setup the tf frames as indicated in this tutorial. So that you have a transformation between the robot and the kinect.

I hope this should be your starting point to get started with what you have in your question.

Hope it helps.

Karthik

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