Hi raktim,
If you just starting your adventure with kinect and ROS I recomend you to look closer on rtabmap_ros package. You can find it here. On ROS wiki you can also find tutorials which should be very helpful for you on start. It’s using freenect or openni packages to get depth sensor data, so you have to remember to install it before you start using rtabmap_ros.
Regards,
Hubert.