move_base point cloud examples [closed]

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I have a laser range finder, a point grey camera and a Xsens MTi IMU on my Robot.Im using Ubuntu 10.4 and ROS Fuerte.

I would like to use the point cloud from the Kinect to assist with navigation through doors while I use the laser for amcl navigation. I have included both the laser and point cloud as observation sources in my yaml file. I have the label od the envirronmet from the map and that already exist.

So Im trying to create own node/package for door navigation. But would like to have some helps and some similar examples as Im totally new in this. Any help or useful links to see some similar examples? Thanks