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To use kinect with Pioneer AT u require the usual kinect packages and laserscan_to_pointcloud package. In openni_launch package edit the kinect_frames.launch file. If i remember correctly it defines frames w.r.t to /camera_link which in turn is defined w.r.t to turtlebot by turtlebot package. So u should explicitly define a correct transformation between /camera_link and PionnerAT.

PS: I haven't tried it myself but i feel it should work this way.