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Issue resolved by changing tag in turtlebot/turtlebot_description/robots/create2_circles_kinect.urdf.xacro from "<create2/> to "<create/>".

create2_circles_asus_xtion_pro.urdf.xacro file in the same directory had <create/> tag and since I could successfully see the model in rviz, I figured I'd apply the same change to the create2_circles_kinect.urdf.xacro. Not exactly sure about the underlying reason why it wouldn't work with <create2/> tag though.