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I am basing my answer on this turtlebot repo and this RGBDSLAMv2 repo.

All you need to do is to subscribe to the rgb and depth images topics output from the kinect and add them to the launch file. On the turtlebot2, the rgb topic rgb/image_raw is and depth topic is depth/image_raw. You can now use the sample launch file provided by the package and change the topic names to the values mentioned above.

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