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The tutorial on http://www.ros.org/wiki/turtlebot/Tutorials/ has the kinect launched just after the bringup.

TurtleBot Bringup How to start a TurtleBot
TurtleBot Care and Feeding This tutorials explains how to charge and maintain your TurtleBot.
Visualizing TurtleBot Kinect Data This tutorial shows you how to look at data coming from the Kinect camera. roslaunch turtlebot_bringup kinect.launch rosrun rviz rviz

What steps should be inserted before executing the kinect launch? The turtlebot_navigation SLAM & Autonomous Navigation procedures further down?

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