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RGBDSlam is the best choice if you have both the rgb and depth stream, but Depthimage_to_laserscan is better if you only have the depth data (my project is like this). Depthimage_to_laserscan requires two things, the depth image topic and the camera_info topic (see monocular camera calibration tutorials). You'll also need to set up a coordinate frame to reference the kinect to. For example, with my stationary kinect 360, I use these:

rosrun tf static_transform_publisher 0 0 0 0 0 0 map camera_depth_frame 20

rosrun depthimage_to_laserscan depthimage_to_laserscan image:=/kinect/mono16/image_raw camera_info:=/kinect/mono16/camera_info _scan_height:=20 _scan_time:=0.167 _range_min:=0.75 _range_max:=2.5

You'd probably want to use a larger scan height if possible, but my slow little raspberry pi cannot handle much more than 640x40 at 6fps, so im limited in height.

After that, you'll see a new /scan topic. Use that in place of a laser scanner as described in the navigation stack tutorials: http://wiki.ros.org/navigation/Tutorials/RobotSetup