Kinect on Pioneer Robot

Anyone have any info on connecting a Kinect to a Pioneer (specifically the 2 DX, but would be interested in any info on other models also).
Looking for demo applications (possibly SLAM apps) and interfacing methods. My 2 DX has an VSBC-8 that cannot handle the Kinect, so interfacing via a laptop riding on top of the 2 DX would be preferable. Ideas? Is ROS one of the easier ways to accomplish this? Has anyone tried it?
Thanks,
Win
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Check this out: (but in french) http://hal.inria.fr/docs/00/59/96/10/PDF/Steux-Corebot.PDF
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