I don't know what your project is, you haven't told me. If you want to get lidar functionality a lidar seems like the way to go, yeah.
Also, if I remember right from when I looked into this, there where some problems with depth perception and that package, so you might have had problems going with the Kinect for Lidar functionality.
Please take a look at Ardupilot's docs to see which Lidar you could use, please take into account the connectors you'd be using. Also be watchful of the autopilot version they are supported in, as some of them aren't available in Copter 3.5, for example.
We'll be updating the autopilot packages very shortly.
I don't understand what the question is. What package?