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The only thing to think about, especially that you said you can only move in a straight line, that your turtle bot is detecting the 2 torso present on it as obstacles.
The solution for this is that you have to set the position of the kinect in the URDF in the exact place, so that the turtle bot will understand that its own torso is not an obstacle.
If you are a beginner and you dont want to mess with the URDF, simply change the range of the angle in such away it wont detect the torso (for example start angle 60 degree and end angle -60 degrees)
Try one the above solutions, but for sure your turtle bot is detecting the torso as obstacles. Good luck
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