kinect to robot arm tool calibration

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Hi guys

I have my kinect placed on tool of robotic manipulator arm ABB and I am able to control it over ROS. I am also sending back to pc tool0 transformations and joint states. I would like to use transformation of toolpoint of robotic manipulator and use it for generating poinclouds of objects. But I have problems to correctly calibrate kinect sensor base which is obtaining data to the tool0 of the abb (there is some transformation and rotation). Can you give me any hints how to do this calibration maybe some packages. I could not find anything similar.

Thank you for your answer