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Kinect V2 on Jackal by Clearpath

Hi all, I'm new to ROS and have gone through the basic tutorials. I'm trying to get the kinect V2 connected with the Jackal and setting up simulations with Gazebo, rviz and stage. The jackal packages that I downloaded has the SICK laser range already set up but I want to replace it with the Kinect V2. From what I have gathered from reading online is that I need to modify the jackal_description urdf. Can anyone help me and tell me what exactly I need to do to get to edit the urdf and simulated kinect data, so that I can progress towards mapping a room?

Thanks!