ar_kinect + Gmapping / SLAM on Turtlebot [closed]

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Hi

A quick question regarding the ar_kinect package and the tutorial for gmapping and autonomous navigation on the turtlebot.

In running the autonomous navigation launch file 'amcl_demo.launch' it looks to set the follwoing to false

rgb_processing, depth_registration and depth_processing.

Firstly does anyone know why?, if i set these to true it fails to correctly load the map and fails to set 'tf' from map to i think 'odom' or 'base_link'.

The reason I ask is because I need these to be true (I think) in order to get the ar_kinect package to work correctly.

I have tried it with a standard 3dsensor.launch approach and ar_kinect does work, but not with the above approach with everything set to 'false'

I was hoping to have a secenario where I can manually map a room, write a python script / node which can then intialise the pose of the turtlebot to a starting point and then navigate them to a staging area where I could use 'fergs' ar_kinect stuff as a means to better align them / orientate them.

Any help or light on the subject is appreciated.

CdrWolfe