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I tried interfacing kinect with a beaglebone black, I could not get the data stream from kinect. Try Odroid it is much faster. If you still want to use kinect with raspberry pi, you must either overclock it or like this, doing it from scratch. ROS +rpi + kinect cannot be done as it requires more processing power. Most of the projects that people have done would include a desktop pc to which they interface the kinect and stream the control data to rpi to control some actuators.