Microsoft had sent me a Kinect a few years ago, and I embarrassingly finally got around to doing something with it. I created an EZ-Builder plugin that is available here, with more information on getting it running: https://www.ez-robot.com/EZ-Builder/Plugins/view/172

While my plugin worked out well, for the hardware that it was made for, our community member @PTP created a much more configurable plugin, available here: https://www.ez-robot.com/EZ-Builder/Plugins/view/173

Here's a video of my kinect plugin in action