I think it's possible to do 2D SLAM with Kinect, because of Hessmer has done:http://www.hessmer.org/blog/2011/04/10/2d-slam-with-ros-and-kinect/. I use the ubuntu 12.04 ,fuerte of ROS. Now i only have a kinect , the ROS has installed the package of slamgmapping , turtlebot and also the driver of kinect. I can use kinect properly for laser scan when the Fixed frame select /cameradepthframe,But when i change it to /map，it does not work: roslaunch opennilaunch openni.launch

roslaunch turtlebot_bringup kinect.launch

rosrun rviz rviz

rosrun gmapping slam_gmapping

In the rviz i add the laser scan,TF,Axes,grid and a map, the map does not work , status is warning. The TF shows: No transform from [/map] to frame [/cameradepthframe], the terminal shows :[target=/odom ]: Dropped 100.00% of messages so far.

I don't know how to solve this problem, who can help me thanks!!