problems navigation 3d p3dx kinect

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I used ubuntu 10.10 and ros electric. I want to navigate with this component but I can't. All the tutorials in 3d are with pr2 robot and the rest of tutorials are in 2d.

I try with this tutorial http://www.ros.org/wiki/navigation/Tutorials/RobotSetup

But it is for 2d navigation.

I also try with this other http://ros.org/wiki/3d_navigation

But it is for pr2 robot, and i can't execute it.

I don't know if i can navigate in 3d or i should convert the kinect 3d points in 2d for the navigation.

Can you help me please??