The setup instructions on the wiki for OpenNi work with the ROS unstable distribution, however, with cturtle they are difficult to follow and generate errors, mostly due to confusion regarding when to insert "unstable" vs "cturtle" in the setup process (particularly with the perception_pcl overlays). However, Diamondback works well providing that you overlaysudo apt-get install ros-diamondback-perception-pcl-addons |