I would check on answers.ros.org. This is a question which has a specific answer and probably belongs there. One answer is
http://answers.ros.org/question/196455/kinect-installation-and-setup-on-ros-updated/
Another possibility is to do a google search ("Does ROS support the kinect sensor").
I am not sure that the Kinect will work on the Raspberry Pi.
I don't have a Kinect so I can't experiment with it.
Jay
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