converted some URDFs to new SDF 1.5 compatible format

thanks to Michael Görner
converted sick_lms100.urdf.xacro
converted openni.gazebo.xacro
converted kurt_outdoor.urdf.xacro
kinect.urdf.xacro: use mesh from pr2_description

old mesh (from kurt_description) is not shown in either Gazebo or RViz for whatever reason