Hello, I'm new to Gazebo and ROS and trying to figure my way around this world.

I have a simulation with Baxter robot that I installed with the help of this tutorial: https://sdk.rethinkrobotics.com/wiki/Simulator_Installation.

After using this tutorial and understanding how to work with Baxter in the Gazebo world I wanted to add a kinect camera to Baxter. I used this tutorial: http://gazebosim.org/tutorials/?tut=ros_depth_camera to add a kinect camera to Gazebo.

The next step was to integrate kinect camera in Baxter. I tried to look online for a while now but I didn't find a lot of useful information. I understand that I need to change baxter_base.urdf.xacro, baxter_base.gazebo.xacro and baxter.urdf.xacro files but I don't understand how.

I'm using ROS kinetic on Ubuntu 16.04 with Gazebo 7.

Thank you very much for your answers!