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Subscribing to a topic is explained in the Publisher/Subscriber Tutorial.

To subscribe to the Kinect you have to adapt the type and name of the topic.

One way to get information about the data the Kinect node is publishing is to type

$ rostopic list

in your terminal. This outputs a list of topics that are currently active on your machine. With

rostopic info <topic name>

You get more information about this topic. There you can also find the message type of this topic. With

rosmsg show <message name>

You get detailed information about the data structure of this message type.

I hope this helps you a little bit.