I am going through the navigation stack from the navigation tutorial here and the tutorial contains code of publishing dummy /LaserScan data (as an example to understand easily). That being said I have a few doubts regarding the same.

1. How do i publish the actual /LaserScan data from an rplidar or Kinect and use it for navigation.?
2. I am using the fakelaserpkg for kinect for getting a fake laser scan. Is this option good for navigation for kinect?

Thanks in advance.