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I have gotten my robot to be able to navigate and user track. I am utilizing ROS Hydro on two Ubuntu 12.04 computers. One is the base computer. The other is on my Pioneer3-DX with the Microsoft Kinect. In order to do navigation and user-tracking, I run a launch file to start the following nodes: p2os_driver, p2os_enableMotors, p2os_urdf, openni_launch, openni_tracker, and depthimage_to_laserscan.

I then worked through the Navigation Tutorials and gmapping, to learn to set up the appropriate navigation parameter files and how to use gmapping. I then used the following move_base.launch file to start navigation and this RViz Navigation Tutorial to control the robot.

The robot is able to navigate while tracking users.

It is possible to do both skeleton tracking and navigation using one Kinect. I am not sure what problems you are having. As mentioned before, please post your launch files and any errors you have. I will try to help you if I can.

move_base.launch:

<launch>

  <!-- Start gmapping -->
    <node  pkg="gmapping" name="slam_gmapping" type="slam_gmapping" output="screen" />

  <!-- Start navigation -->
    <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
        <rosparam command="load" file="$(find follow_me_2dnav)/launch/costmap_common_params_p3dx.yaml" ns="global_costmap"/>
        <rosparam command="load" file="$(find follow_me_2dnav)/launch/costmap_common_params_p3dx.yaml" ns="local_costmap"/>
        <rosparam command="load" file="$(find follow_me_2dnav)/launch/local_costmap_params.yaml"/>
        <rosparam command="load" file="$(find follow_me_2dnav)/launch/global_costmap_params.yaml"/>
        <rosparam command="load" file="$(find follow_me_2dnav)/launch/base_local_planner_params.yaml"/>
    </node>
</launch>