If you have recently come into possession of a astromech droid such as an R2-D2 or R2-M5, good news, they are now compatible with ROS.
This R2-M5 built by Björn Giesler, a member of the R2 builder's club, has working motion control, voice recognition, SLAM and people tracking using a Kinect 3D sensor.
Source code and documentation is available here.
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