Intel Realsense D400 in Gazebo simulation

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Im trying to use intel D400 with gazebo simulation on ROS Kinetic / Ubuntu 16.04. So far I have been using the OpenNI Kinect plugin (libgazebo_ros_openni_kinect.so).

I found there is a Realsense plugin for Gazebo (librealsense_gazebo_plugin.so). I am not sure how to replace the openni_kinect plugin with it in my URDF file, considering that the Realsense has two infrared cameras and an RGB camera.

I want to experiment with the Realsense in simulation before shifting to the real camera. I would like to work with depth images and point clouds for my application. First by using the depthimage_to_laserscan package and later the point clouds for obstacle avoidance. Thanks in advance.

Here is how I currently use the OpenNI Kinect plugin in URDF:

            <link name="camera_link">
          <visual>
            <origin xyz="0.0 0.0 0.004" rpy="0 0 0"/>
            <geometry>
              <mesh filename="package://evarobotmodel_description/meshes/kinect.dae" scale="0.9 0.9 0.9"/>
            </geometry>
          </visual>
          <collision>
            <origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
            <geometry>
                <box size="0.0730 0.2760 0.0720"/>
            </geometry>
          </collision>
          <inertial>
            <mass value="0.170" />
            <origin xyz="0 0 0" />
            <inertia ixx="0.001152600" ixy="0.0" ixz="0.0"
                     iyy="0.000148934" iyz="0.0"
                     izz="0.001154654" />
          </inertial>
        </link>
        <joint name="camera_rgb_joint" type="fixed">
          <origin xyz="0.0 -0.02 0.0" rpy="0.0 0.0 0.0"/>
          <parent link="camera_link"/>
          <child link="camera_rgb_frame" />
        </joint>
        <gazebo reference="camera_link">
            <material>Gazebo/FlatBlack</material>
        </gazebo>
        <link name="camera_rgb_frame"/>
        <joint name="camera_rgb_optical_joint" type="fixed">
          <origin xyz="0 0 0" rpy="-1.57079632679 0 -1.57079632679" />
          <parent link="camera_rgb_frame" />
          <child link="camera_rgb_optical_frame" />
        </joint>
        <link name="camera_rgb_optical_frame"/>
        <joint name="camera_joint" type="fixed">
          <origin xyz="0.17 0.0 0.1913" rpy="0.0 0.0 0.0"/>
          <parent link="base_link"/>
          <child link="camera_link"/>
        </joint>
        <joint name="camera_depth_joint" type="fixed">
          <origin xyz="0 -0.045 0" rpy="0 0 0" />
          <parent link="camera_link" />
          <child link="camera_depth_frame" />
        </joint>
        <link name="camera_depth_frame"/>
        <joint name="camera_depth_optical_joint" type="fixed">
          <origin xyz="0 0 0" rpy="-1.57079632679 0 -1.57079632679" />
          <parent link="camera_depth_frame" />
          <child link="camera_depth_optical_frame" />
        </joint>
        <link name="camera_depth_optical_frame"/>
         <!--  Asus mount  -->
        <joint name="mount_asus_xtion_pro_joint" type="fixed">
          <origin xyz="0.1685 -0.0050 0.1563" rpy="1.57079632679 0 -1.57079632679"/>
          <parent link="base_link"/>
          <child link="mount_asus_xtion_pro_link"/>
        </joint>  
        <link name="mount_asus_xtion_pro_link">
<!--          <visual>
            <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry>
              <mesh filename="package://evarobotmodel_description/meshes/asus_base.dae"/>
            </geometry>
            <material name="Black"/>
          </visual>  -->
          <collision>
            <origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
          <geometry>
            <box size="0.2760 0.0330 0.0120"/>
          </geometry>
          </collision>
          <inertial>
            <mass value="0.170 ...