How to get registered depth camera data in gazebo?

[TodayWantToStudy]

https://github.com/ros-drivers/openni_camera/blob/indigo-devel/openni_description/model/kinect_gazebo.urdf.xacro

Hello!
I found the kinect_gazebo.urdf.xacro file in openni_camera/openni_description/model.
We can change the name of ros topics in gazebo by editing this topic.
However there are just five topics about camera in the gazebo.
I need to get the registered depth data from camera in camera.
Can i get them by editing the .xacro. I can't find the documents about openni_gazebo_plugin. Thanks a lot.