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Hi Scott,
Congrats on setting up the TurtleBot arm and head. Yeah, I had the same thoughts as you and though I haven't tried moving either the arm or head yet, a few ideas that came to mind are: (1) mount the arm one level below the head. This way the gripper would still be visible to the Kinect but the rest of the arm would be out of the way. It might also let the gripper reach the ground so that your TB could pick up stuff off the floor. (2) Keep the arm on the top level but move it to one side or the other so that it is not directly in front of the camera. TF can handle the changed geometry once you update your URDF/Xacro model. And (3), put the head on longer stand-offs so it can see better over the arm. This could be combined with either (1) or (2).
--patrick
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