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Look into the turtlebot_description package, which contains the files for simulated kinect. Get rid of the turtlebot robot description and use the part which contains the kinect. It should be easy to copy the code for the husky robot. Also look into the turtlebot_gazebo package which details the simulation of the turtlebot in an empty world.

You can use the launch file as

roslaunch turtlebot_gazebo  turtlebot_empty_world.launch

Simulated kinect topic is published on the /camera /image_raw topic and to get the point cloud is available at /camera/depth/points topic. Look into the turtlebot_description/urdf/turtlebot_gazebo.urdf.xacro from which you can simulate the kinect.

Hope this helps