Kinect sensor gazebo-ros

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I am trying to add a kinect sensor to a simulation I have already running using a hokuyo laser as sensor for navigation. I want to add the kinect sensor in order to simulate navigation using point clouds. I have all of this already running in the real robot.

I am using ros groovy and Gazebo 1.6

The important part of the .sdf I use is at the end of the question. I have gone through the tutorials but I am still not sure about how sensors and plugins properly work. For what I understand just adding the camera depth sensor should get the topic from gazebo listed in a gztopic list, but I do not see this happening. And for what I understand adding the plugin besides adding new functionalities should make the bridge to ros available so that it would publish in the same topics as a depth camera does in ros.

I am pretty stuck so I would appreciate any help.

Thanks for our time.

<link name="kinect::link"> <pose>0.2 0 0.265 0 0 0</pose> <inertial> <mass>0.1</mass> </inertial> <collision name="collision"> <geometry> <box> <size>0.073000 0.276000 0.072000</size> </box> </geometry> </collision> <visual name="visual"> <geometry> <mesh> <uri>model://kinect/meshes/kinect.dae</uri> </mesh> </geometry> </visual>

  <sensor name="camera" type="depth">
    <pose>0.2 0 0.265 0 0 0</pose>
    <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="camera" filename='libDepthCameraPlugin.so'>
        <alwaysOn>1</alwaysOn>
    <updateRate>10.0</updateRate>
    <image_topic_name>image_raw</image_topic_name>
        <point_cloud_topic_name>points</point_cloud_topic_name>
     <camera_info_topic_name>camera_info</camera_info_topic_name>
    <cameraName>depth_cam</cameraName>
        <frameName>/base_link</frameName>
        <point_cloud_cutoff>0.001</point_cloud_cutoff>
    <distortionK1>0.00000001</distortionK1>
        <distortionK2>0.00000001</distortionK2>
        <distortionK3>0.00000001</distortionK3>
        <distortionT1>0.00000001</distortionT1>
        <distortionT2>0.00000001</distortionT2>
  </sensor>
</link>

  <joint name="kinect_joint" type="revolute">
    <child>kinect::link</child>
    <parent>chassis</parent>
    <axis>
      <xyz>0 0 1</xyz>
      <limit>
        <upper>0</upper>
        <lower>0</lower>
      </limit>
    </axis>
  </joint>