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The URDF tutorials are really good to learn how to create or adapt urdf and xacro files (part 2 should be enough).

But your case seems simpler, as you already have both of the URDF definitions that you need. You should be able to mostly just replicate the example code given in the kinect_v2_standalone.urdf.xacro.

More specifically, you would modify the xacro file that you posted above to include:

<xacro:include filename="$(find kinect_v2)/urdf/kinect_v2.urdf.xacro" />

.
.
.

<xacro:kinect_v2  parent="base_link">
        <origin xyz="0 0 0" rpy="0 0 0"/>
</xacro:kinect_v2>

Modifying the desired relative pose of the camera accordingly ('origin' tag above).