diff --git a/src/humantest/model/kinect.xacro b/src/humantest/model/kinect.xacro
new file mode 100644
index 0000000000..304eca7283
--- /dev/null
+++ b/src/humantest/model/kinect.xacro
@@ -0,0 +1,39 @@
+<robot name="my_sensors" xmlns:xacro="http://wiki.ros.org/xacro">
+    <gazebo reference="support">  
+      <sensor type="depth" name="camera">
+        <always_on>true</always_on>
+        <update_rate>20.0</update_rate>
+        <camera>
+          <horizontal_fov>${60.0*PI/180.0}</horizontal_fov>
+          <image>
+            <format>R8G8B8</format>
+            <width>640</width>
+            <height>480</height>
+          </image>
+          <clip>
+            <near>0.05</near>
+            <far>8.0</far>
+          </clip>
+        </camera>
+        <plugin name="kinect_camera_controller" filename="libgazebo_ros_openni_kinect.so">
+          <cameraName>camera</cameraName>
+          <alwaysOn>true</alwaysOn>
+          <updateRate>10</updateRate>
+          <imageTopicName>rgb/image_raw</imageTopicName>
+          <depthImageTopicName>depth/image_raw</depthImageTopicName>
+          <pointCloudTopicName>depth/points</pointCloudTopicName>
+          <cameraInfoTopicName>rgb/camera_info</cameraInfoTopicName>
+          <depthImageCameraInfoTopicName>depth/camera_info</depthImageCameraInfoTopicName>
+          <frameName>support_depth</frameName>
+          <baseline>0.1</baseline>
+          <distortion_k1>0.0</distortion_k1>
+          <distortion_k2>0.0</distortion_k2>
+          <distortion_k3>0.0</distortion_k3>
+          <distortion_t1>0.0</distortion_t1>
+          <distortion_t2>0.0</distortion_t2>
+          <pointCloudCutoff>0.4</pointCloudCutoff>
+        </plugin>
+      </sensor>
+    </gazebo>
+
+</robot>
diff --git a/src/humantest/model/robot.xacro b/src/humantest/model/robot.xacro
index 770d17a68a..32c1a0e1f9 100644
--- a/src/humantest/model/robot.xacro
+++ b/src/humantest/model/robot.xacro
@@ -6,4 +6,7 @@
    <xacro:include filename="gazebo/move.xacro" />
    <xacro:include filename="gazebo/laser.xacro" />
    <xacro:include filename="gazebo/camera.xacro" />
+    <xacro:include filename="gazebo/kinect.xacro" />
+
+
 </robot>
\ No newline at end of file
diff --git a/src/humantest/model/rviz.launch b/src/humantest/model/rviz.launch
index fe356a28c2..c01e6e6780 100644
--- a/src/humantest/model/rviz.launch
+++ b/src/humantest/model/rviz.launch
@@ -1,4 +1,6 @@
 <launch>
+     <!-- 添加点云坐标 -->
+    <node pkg="tf2_ros" type="static_transform_publisher" name="static_transform_publisher" args="0 0 0 -1.57 0 -1.57 /support /support_depth" />
     <!-- 启动 rviz -->
     <node pkg="rviz" type="rviz" name="rviz" args="-d $(find urdf01_rviz)/config/show_mycar.rviz" /> />
 
diff --git a/src/humantest/model/rviz_laser.launch b/src/humantest/model/rviz_laser.launch
deleted file mode 100644
index fe356a28c2..0000000000
--- a/src/humantest/model/rviz_laser.launch
+++ /dev/null
@@ -1,9 +0,0 @@
-<launch>
-    <!-- 启动 rviz -->
-    <node pkg="rviz" type="rviz" name="rviz" args="-d $(find urdf01_rviz)/config/show_mycar.rviz" /> />
-
-    <!-- 关节以及机器人状态发布节点 -->
-    <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />
-    <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
-
-</launch>