The ASUS Xtion is an excellent 3D sensor and would be a great addition to a TurtleBot. Previously the problem has been a matter of mounting the sensor and configuring the TFs and visualizations. This has now been solved with the release of our TurtleBot Xtion Mounting Kit. This kit provides all of the parts to attach an ASUS Xtion 3D Sensor to your TurtleBot. As a matter of convenience, it can also be ordered with an ASUS Xtion Pro Live sensor.
We also provide all of the necessary software for using this in rviz and gazebo. It also provides the necessary TFs.
The software is currently part of the iheart-ros-pkg repository and is available via github. Debian installers will be made available in the near future.