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You should have no issue following the turtlebot tutorials: http://www.ros.org/wiki/Robots/TurtleBot?action=show&redirect=TurtleBot#Tutorials without the Kinect.

Doing telepresence should work "out of the box" with ROs, the Turtlebot stacks, and a compatible Roomba.

From there, you could easily add a Kinect and IMU to the design.

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