Dear ROSistas,
if any of you wants to play with the Leap Motion Controller in ROS we
have a ROS wrapper for it:
https://github.com/bosch-ros-pkg/ros_leap

We also programmed one demo app with it for control of PR2's arms:
- https://github.com/bosch-ros-pkg/ros_leap/wiki/Control-PR2-Arms;
- http://www.youtube.com/watch?v=wDEb_0HpgVA&feature=share&list=LLRDVf4MR2WTNcizHA6DnhnQ.

Let us know if you find this useful. Pull requests are as always welcome.

Best,
Bosch RTC Team