All - I thought I would post on here about the project I recently finished.  This was a project for my university.  The goal for this project was to do some form of tracking with the kinect using ROS and send output commands to the APM via MAVLink.  I used the roscopter package from Yogesh and expanded upon it pretty heavily.  I also made it able to work with the ArduPlane software as well.

You can watch a video demo here: https://www.youtube.com/watch?v=i3rCjBmssP0&feature=youtu.be

For the wiki page/code, go here:  https://code.google.com/p/icarus-uav-system/wiki/ROS_APM_KINECT

And a project report:  http://dgitz.ipower.com/ICARUSRepo/Media/Projects/ROS_APM/ROS_APM_Kinect_Final_Report.pdf

The code is freely available, just use at your own risk!  :)

Thanks.