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Hi,

I don't think there is a problem to use your own pc (as long as you can install Ubuntu+ROS on it) or your own Kinect. Since you are using a setup very similar to Turtlebot, I would refer you to the official Turtlebot tutorials: http://wiki.ros.org/turtlebot/Tutorials

When you are able to teleop the robot, you can look the navigation tutorials: http://wiki.ros.org/turtlebot_navigation

If you are able to do the navigation tutorials of Turtlebot, you will then be able to try this RTAB-Map's tutorial: http://wiki.ros.org/rtabmap_ros/Tutorials/MappingAndNavigationOnTurtlebot

cheers

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