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My problem was that the points were published in the realsense_zr300_ir_optical_frame which is a rotated frame. Maybe I am doing something wrong and the tf tree should be automatically published by the libgazebo_ros_openni_kinect.so plugin, but it is not publishing any tf information for me. I then made another frame kinect and rotated it RPY: -pi/2, 0, -pi/2 as said in this answer: https://answers.ros.org/question/52780/tf-from-optical-frame-to-odometry-frame/
So my final tf tree looks like this: world-> kinect_link-> realsense_zr300_ir_optical_frame where the transform between realsense_zr300_ir_optical_frame and kinect_link is RPY: -pi/2, 0, -pi/2 and between world and kinect_link like the one I get from this->model->GetWorldPose().
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