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If you use the SVN branch for "kt2_simulator" (referenced above by Stefan), you can use the "gazebo_ros_wge100" plugin to simulate an RGBD camera. You can look in the package "kt2_pr2_defs" for information on how to configure a URDF/Gazebo model entry for the camera. The camera will publish camera info, images, disparity, and points2.

The changes in that branch will be merged in to trunk soon. I don't think the gazebo_ros_wge100 camera plugin follows the same topic name conventions as a Kinect, but it should be easy to solve by remapping.

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