In order to start up Kinect on PR2 robot please follow the following step(s):

====== Using NI Stack (www.ros.org/wiki/ni) ======
[[http://www.ros.org/wiki/pr2_calibration/Tutorials/KinectURDFCalibration#Start_Up_Kinect_sensor]]

====== Using openni_kinect Stack (http://www.ros.org/wiki/openni_kinect) ======
===== CTurtle =====
Install stack's system dependencies:

  sudo apt-get install nite-dev openni-dev ps-engine

Install stack from sources:
  hg clone https://kforge.ros.org/openni/openni_ros openni_kinect
  rosmake openni_kinect --rosdep-install

Comment the following line in the openni_camera/launch/openni_node.launch file:
  <!-- <include file="$(find openni_camera)/launch/kinect_frames.launch"/> -->

Start up Kinect:
  roslaunch openni_kinect openni_node.launch

===== DTurtle =====
TODO!