How do I use kinect data( two topics /camera/depth/points and /camera/rgb/raw) in moveit. I have both .pcd files and sensor.yaml files. How to use them with moveit(ROS) for path planning?

Yaml file: sensors: - sensor_plugin: occupancy_map_monitor/PointCloudOctomapUpdater point_cloud_topic: /head_mount_kinect/depth_registered/points max_range: 5.0 point_subsample: 1 padding_offset: 0.1 padding_scale: 1.0 filtered_cloud_topic: filtered_cloud