Upon successful installation of kinect drivers, kinect can be interfaced with Baxter.
Install openni for kinect connectivity
You may need to reboot the robot to correctly install the camera drivers. To start publishing the kinect camera, run the openni_launch file:
You can now publish a static tf transform for the kinect connected to a frame on the robot like so:
If you launch rviz and add a camera linked to /camera/rgb/image_color and add a TF obect, deselecting Show Names and Show Axes, you should be able to see the output from the kinect with an icon indicating its relative position to the robot Using the transform: