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Using Kinect on Youbot for obstacle avoidance

Hello Everybody,

I am trying use Kinect's pointcloud data to navigate and do some obstacle avoidance on Kuka Youbot. I tried to build a navigation stack and I failed. Also I tried to turn youbot_navigation that created for hokuyo laser to kinect and failed again. I am thinking just using data that I can get from oppenni without building a navigation stack. I am new at this community. Any idea that you can give will be helpful.

Cheers,

K

P.S.: I am using Hydro and Ubuntu 12.04