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as far as i know, the pure pcl library has different kinect driver with ros. so using pcl_ros package is the best choice if you try to use ros. You may examine the the perception_pcl, inside which there are some basic functionalities like filters and segmentation, though it will not be powerful as the orginial pcl libraray.

for how to get started with pcl in ros, you may refer to http://correll.cs.colorado.edu/?p=2807, which may help