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I'm in the process of trying to figure this out myself, so I won't be able to help you too much but I can point you in the right direction.
You'll need freenect_launch and libfreenect
sudo apt-get install ros-indigo-freenect-launch
sudo apt-get install ros-indigo-libfreenect
Then you can launch it with (make sure the Kinect is connected, it will tell you to connect it if not)
roslanch freenect_launch freenect.launch
When it starts it will output some messages like below, which apparently is normal
...
[ WARN] [1447125024.427412294]: Using default parameters for IR camera calibration.
[ INFO] [1447125027.019823318]: Stopping device RGB and Depth stream flush.
After this you can follow the tutorial from the openni page, starting at step 3 http://wiki.ros.org/openni_launch/Tutorials/QuickStart
For more information look around on the freenect and openni pages.
-Steven
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