Kinect-based Person Follower

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Hi! I want to develop a person follower like TurtleBot follower demo, using a Kinect and an Arduino for controlling dc motors. I’m looking for advices: which library or programs should I used, or a tutorial, something that help me starting. Maybe something using rviz, or the NiTE skeleton tracker.

Im using indigo, ubuntu14 and I have installed openni and the drivers for the Kinect, everything is working properly.

Thanks in advance