Mapping with kinect instead of Hokuyo laser

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• I had a 6 wheeled robot.
• I made mapping using Hokuyo laser and it worked successfully on rviz as shown
• Unfortunately I don't have the Hokuyo laser. I have a kinect. so,I want to make mapping using kinect sensor instead of the Hokuyo laser.
• The most powerful advantage of ros is that being able to reuse code.
• There are famous robots that uses kinect like turtlebot,corobot,pioneer and pi robot.

So,my question is:-

How to add kinect to my model to appear in rviz and gazebo?? What should I modify in my urdf model and .xacro file?? How can I reuse the code of a famous robot for adding kinect to my model and make mapping with kinect ?? Any suggestions ,please??

• This is my_robot.xacro file

<?xml version="1.0"?>

<robot xmlns:xacro="http://www.ros.org/wiki/xacro" 
    xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
        xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
        xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
    name="robot1_xacro">


    <include filename="$(find erratic_description)/urdf/erratic_hokuyo_laser.xacro" />

        <!-- BASE LASER ATTACHMENT -->
        <erratic_hokuyo_laser parent="base_link">
                <origin xyz="0.18 0 0.11" rpy="0 0 0" />
        </erratic_hokuyo_laser>

    <xacro:property name="length_wheel" value="0.05" />
    <xacro:property name="radius_wheel" value="0.05" />
    <xacro:macro name="default_inertial" params="mass">
               <inertial>
                       <mass value="${mass}" />
                       <inertia ixx="1.0" ixy="0.0" ixz="0.0"
                                iyy="1.0" iyz="0.0"
                                izz="1.0" />
               </inertial>
    </xacro:macro>

    <link name="base_footprint">
        <visual>
            <geometry>
                    <box size="0.001 0.001 0.001"/>
                </geometry>
            <origin rpy="0 0 0" xyz="0 0 0"/>
        </visual>
        <xacro:default_inertial mass="0.0001"/>
    </link>

    <gazebo reference="base_footprint">
        <material>Gazebo/Green</material>
        <turnGravityOff>false</turnGravityOff>
    </gazebo>

    <joint name="base_footprint_joint" type="fixed">
        <origin xyz="0 0 0" />
        <parent link="base_footprint" />
        <child link="base_link" />
    </joint>


    <link name="base_link">
        <visual>
            <geometry>
                    <box size="0.22 0.380 0.085"/>
                </geometry>
            <origin rpy="0 0 1.5707" xyz="0 0 0.05"/>
            <material name="blue">
                <color rgba="0 0 .8 1"/>
            </material>
        </visual>
        <collision>
            <geometry>
                    <box size="0.22 0.380 0.085"/>
            </geometry>
        </collision>
        <xacro:default_inertial mass="10"/>
    </link>

    <link name="right_wheel_1">
        <visual>
                <geometry>
                    <cylinder length="${length_wheel}" radius="${radius_wheel}"/>
                </geometry>
            <!-- <origin rpy="0 1.57075 0" xyz="-0.085 0.15 -0.25"/> -->
            <origin rpy="0 0 0" xyz="0 0 0"/>
            <material name="black">
                <color rgba="0 0 0 1"/>
            </material>
        </visual>
        <collision>
            <geometry>
                    <cylinder length="${length_wheel}" radius="${radius_wheel}"/>
            </geometry>
        </collision>
        <xacro:default_inertial mass="1"/>
    </link>

    <link name="right_wheel_2">
        <visual>
                <geometry>
                    <cylinder length="${length_wheel}" radius="${radius_wheel}"/>
                </geometry>
            <!-- <origin rpy="0 1.57075 0" xyz="-0.085 0 -0.25"/> -->
            <origin rpy="0 0 0" xyz="0 0 0"/>
            <material name="black"/>
        </visual>
        <collision>
            <geometry>
                    <cylinder length="${length_wheel}" radius="${radius_wheel}"/>
            </geometry>
        </collision>
        <xacro:default_inertial mass="1"/>

    </link>

    <link name="right_wheel_3">
        <visual>
                <geometry>
                    <cylinder length="${length_wheel}" radius="${radius_wheel}"/>
                </geometry>
            <origin rpy="0 0 0" xyz="0 0 0"/>
            <material name="black"/>
        </visual>
        <collision>
            <geometry>
                    <cylinder length="${length_wheel}" radius="${radius_wheel}"/>
            </geometry>
        </collision>
        <xacro:default_inertial mass="1"/>
    </link ...