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Thank you guys for your quick answers. Stefan that's exactly what I would like to do, but I have to communicate with a ROS Electric, is it an issue? Trinighost I already knew it, but I need to do a GUI so to debug it's usefull but not for me at the end. I might try to do some Rviz at the beginning to see the point cloud from my kinect and maybe try to put the location of my system also in it.

Again thanks for your help

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