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The preferred method for sending Kinect data over WiFi is to send the depth image, then convert to a point cloud on the processing PC.

In your situation set up distributed ROS (http://wiki.ros.org/ROS/Tutorials/MultipleMachines), then run "roslaunch openni_launch openni.launch" on the turtlebot.

On your host PC, you can run depth_image_proc/point_cloud_xyz to convert from a depth image to a point cloud message.

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