Comment by sobot for An Xtion from Asus is also enough for indoor navigation. A drawback would be its limited field of view. An example of using it with a turtlebot for navigation can be found here.

Hi, i was thinking more about an IR or a cheap lidar solution, and primarily wanted to couple it with an Exploration pkg, which looks like "Exploration" is not easy to find either! any idea's for that part?