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If you look at the settings shown in the Displays panel on the left in RVIZ you can see the Global Options->Fixed frame is set to 'Kinect' So the view in RVIZ view is currently using the kinect frame which explains the difference between RVIZ and gazebo.

You seem to be lacking a correct transform to relate the kinect frame and the world frame in RVIZ, so the robot is not being displayed in the correct location.

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