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It seems that the issue I had were due to 2 reasons:

I didn't follow the Kinetic-specific installation instructions as pointed out by @imcmahon
As part of the installation per-requisites, the installation requires the package ros-kinetic-driver-common, which seems to not exist for ros Kinetic. Instead, I installed the package ros-kinetic-dr-base

These two solutions had the Baxter Simulator installed successfully.

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