How to use Pionner 3AT + Sensor Kinect to capture point clouds

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Hi, I'm using Pionner 3AT + Sensor Kinect to capture point clouds. I'm use the p2os (teleop_keyboard) to controll robotic and rgbdslam_freiburg to capture the point clouds, I don't have problems for to use these processes separately, the problem is when I use the two together. What must I do to rgbdslam package receive the commands to capture the point cloud (ex: "enter" key)? I have the same doubt with joystick.