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The older openni drivers had problems -- however, they also had stable points. Being on an older Ubuntu release with an older ROS install, you might hit one of those stable points. I think you'll just have to test it and see.

That Atom is not all that powerful, depending on what you are doing, you may want to turn down the Kinect frame rate or image size (see the openni_camera driver docs) to help out your code. Regardless, the question above is far too broad -- you can certainly find some motion planning algorithm for which you cannot run it on that Atom, and you can certainly find several motion planning algorithms for which the Atom is overkill -- it really all depends on what you are doing and at what framerate/image size.