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Hi there, this is a quite common task that is solved with the ROS Navigation Stack (http://wiki.ros.org/navigation) You can install it like this:

sudo apt-get install ros-indigo-navigation

assuming you have Ros Indigo installed, if you have Kinetic, just change it to kinetic.

Since you have a Kinect XBOX you also want to look into the Turtlebot navigation package (http://wiki.ros.org/turtlebot_navigation)

You'll end up with something looking like this: image description

But for that t happen you need to convert your pointcloud to a laserscan, good luck for you there is a package for that ;) Check it here: http://wiki.ros.org/pointcloud_to_laserscan

Afterwards, you use the navigation stack and create your map with the laser scan, it'll be as easy as publishing a 2D Nav Goal for your robot to navigate. Good luck!