How do I connect Creative 3DSenz to Baxter robot?

Hi all, I am trying to connect external cameras(Creative 3D Senz) on Baxter robot. Following certain tutorial in ROS answers, 1. I installed DeptSenseSDK 2.Import the xacro file describing the camera macro: 3. Included it in my robot description file( **which is my URDF file right??**) But I am not sure what I should be doing next. I am not able to visualize it in RViz as well,. Can you please guide me through this?