Kinect on TurtleBot3 for Gazebo simulation (ROS Melodic)

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Hi,

I'm trying to add this depth camera and right now I followed this tutorial for this purpose: http://gazebosim.org/tutorials?tut=ro...

I'm using Ubuntu 18.04.

My aim is to use it with rviz for self localization and navigation, so basically I need to swap its camera for a Kinect.

When I launch my world, my Turtlebot3 is graphically mounted with the Kinect on top of it like I want, so I can move it with teleop and stuff like that, but it doesn't start the other topics, needed for the camera.

I modified the waffle pi xacro(s) like explained in the tutorial above This is the modified part of the .gazebo.urdf.xacro

 <gazebo reference="depth_camera">
    <sensor name="depth_camera_camera" type="depth">
      <always_on>true</always_on>
    <update_rate>20</update_rate>
    <camera>
      <horizontal_fov>1.047198</horizontal_fov>
      <image>
        <width>640</width>
        <height>480</height>
        <format>R8G8B8</format>
      </image>
      <clip>
        <near>0.05</near>
        <far>3</far>
      </clip>
    </camera>
    <plugin name="depth_camera_controller" filename="libgazebo_ros_openni_kinect.so">
      <baseline>0.2</baseline>
      <alwaysOn>true</alwaysOn>
      <updateRate>0.0</updateRate>
      <cameraName>camera_ir</cameraName>
      <imageTopicName>camera/color/image_raw</imageTopicName>
      <cameraInfoTopicName>camera/color/camera_info</cameraInfoTopicName>
      <depthImageTopicName>camera/depth/image_raw</depthImageTopicName>
      <depthImageInfoTopicName>camera/depth/camera_info</depthImageInfoTopicName>
      <pointCloudTopicName>camera/depth/points</pointCloudTopicName>
      <frameName>camera</frameName>
      <pointCloudCutoff>0.5</pointCloudCutoff>
      <pointCloudCutoffMax>3.0</pointCloudCutoffMax>
      <distortionK1>0.00000001</distortionK1>
      <distortionK2>0.00000001</distortionK2>
      <distortionK3>0.00000001</distortionK3>
      <distortionT1>0.00000001</distortionT1>
      <distortionT2>0.00000001</distortionT2>
      <CxPrime>0</CxPrime>
      <Cx>0</Cx>
      <Cy>0</Cy>
      <focalLength>0</focalLength>
      <hackBaseline>0</hackBaseline>
    </plugin>
  </sensor>
</gazebo>

and that's the modified part of the .urdf.xacro

 <joint name="camera_rgb_joint" type="fixed">
    <origin xyz="0.003 0.011 0.009" rpy="0 0 0"/>
    <parent link="camera_link"/>
    <child link="depth_camera"/>
  </joint>

   <link name="depth_camera">
      <inertial><mass value="0.1" />
       <inertia ixx="0.001" ixy="0.0" ixz="0.0"
               iyy="0.001" iyz="0.0"
               izz="0.001" /></inertial>
      <collision name="collision">
        <geometry>
          <box size="0.073000 0.276000 0.072000" />
        </geometry>
      </collision>
      <visual name="visual">
        <geometry>
          <mesh filename="model://kinect/meshes/kinect.dae" />
        </geometry>
      </visual>
  </link>
  <joint name="camera_rgb_optical_joint" type="fixed">
    <origin xyz="0 0 0" rpy="-1.57 0 -1.57"/>
    <parent link="depth_camera"/>
    <child link="camera_rgb_optical_frame"/>
  </joint>
  <link name="camera_rgb_optical_frame"/>

Edit: This is the gazebo urdf file:

<?xml version="1.0"?>
<robot name="turtlebot3_waffle_ki_sim" xmlns:xacro="http://ros.org/wiki/xacro">
  <xacro:arg name="laser_visual"  default="false"/>
  <xacro:arg name="camera_visual" default="false"/>
  <xacro:arg name="imu_visual"    default="false"/>
  <xacro:arg name="link_name" default="camera" />
  <xacro:arg name="frame_name" default="camera_frame" />
  <xacro:arg name="camera_name" default="camera" />

  <gazebo reference="base_link">
    <material>Gazebo/DarkGrey</material>
  </gazebo>
  <gazebo reference="wheel_left_link">
    <mu1>0.1</mu1>
    <mu2>0.1</mu2>
    <kp>500000.0</kp>
    <kd>10.0</kd>
    <minDepth>0.001</minDepth>
    <maxVel>0.1</maxVel>
    <fdir1>1 0 0</fdir1>
    <material>Gazebo/FlatBlack</material>
  </gazebo>
  <gazebo reference="wheel_right_link">
    <mu1>0.1</mu1>
    <mu2>0.1</mu2>
    <kp>500000.0</kp>
    <kd>10.0</kd>
    <minDepth>0.001</minDepth>
    <maxVel>0.1</maxVel> ...