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I successfully run it with some minor adjustments. First you have to edit your launch file and add to start openni, pointcloud_to_laser_scan and remap kinects laser scan from scan to base_scan. To properly show the data in rviz I modified all .cpp and .py files to change fixed_frame from odom_combined to camera_depth_frame. Maybe you won't have to do that if you actually use odom_combined. In the end don't forget to rosmake it. Now you should be able to show leg detection in rviz by adding MARKER.