navigation using kinect without laser scan

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A really nice node called pointcloud_to_laserscan is used to create a fake laser scan from a kinect's point cloud. It is actually better than using a lidar in some cases since it doesn't just look at a single slice of space, but rather a swath that is defined using the max_height and min_height parameters. Once you have that fake laserscan, you can use it as input to any of the navigation algorithms that are meant for lidars. (I've never used this node, so I'm assuming this is what it does).