For information, we just managed to have the kinect working on a gumstix 
overo (arm). Once the cross-compiling is done, there is no major 
impediment.
We temporarily hacked the driver to publish only the depth image for 
this test.

In this setup, we publish about 9 fps (rostopic hz) and use around 65% 
of the CPU.

Next step: see if we can even control a robot with this information :)

Cheers

-- 
Dr. Cedric Pradalier
http://www.asl.ethz.ch/people/cedricp