RVIZ visualize the data in the different plane. How to fix that?

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I have set up an environment in gazebo with Kinect sensor. Sensor position and the joint is fine.

But I visualize the pointcloud data in Rviz it is showing in XZ plane instead of XY plane. Take a look at the following image

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In the image above, it is capturing the image from the front in gazebo but showing on the top of the robot in Rviz.

I tried to put the static transform between frames. <node pkg="tf" type="static_transform_publisher" name="kinect_frame" args="0 0 0 -1.58 0 -1.58 /middle_link /kinect_link 100" /> But its conflicting with the transform published by robot_state_publisher.

<link name="kinect_link">
    <inertial>
      <mass value="0.1"/>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <!--The 3x3 rotational inertia matrix. -->
       <inertia ixx="0.0000282916666667" ixy="0" ixz="0" iyy="0.0000282916666667" iyz="0" izz="0.00005625"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
            <mesh filename="package://simbha_model/urdf/meshes/kinect.stl" scale="0.001 0.001 0.001"/>
        </geometry>
      <material name="Black"/>
    </visual>
        <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <cylinder length="0.065" radius="0.005"/>
      </geometry>
   <material name="Black"/>
    </collision>
  </link>
<joint name="kinect_link_joint" type="fixed">
    <parent link="middle_link"/>
    <child link="kinect_link"/>
    <origin rpy="0 0 0" xyz="0.075 0.0 0.155"/>
  </joint>

How to set the kinect frame???