How to add a depth camera on IRIS for gazebo simulation?

I want to add a depth camera ,like kinect or intel realsense r200, on IRIS for gazebo simulation .
I’ve already realize adding a ROS camera on IRIS as mentioned in How to add a ROS camera to IRIS for gazebo simulation?
What should I do ?

in the avoidance repo, we have a launchfile to run avoidance in SITL using iris with a depth camera.

you can use that one as an example

Hey, does the local planner also helps in local position estimation in GPS denied environment?

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