Luke Fitzgerald returns from injury for Leinsters Guinness PRO12 semi-final against Ulster on Friday - live on Sky Sports 3 HD from 7.30pm - but Ireland team-mate Rob Kearney misses out. Fitzgerald has recovered from the medial ligament problem suffered during the 30-6 defeat to Ulster on April 30 and takes his place on the wing.However, Kearney has failed to recover from the ankle injury suffered in Leinsters final regular season game against Treviso. Skipper Isa Nacewa switches to full-back with Fitzgerald on the left wing in what are the only changes to the team that started the eight-try mauling of Treviso. Highlights of Ulsters convincing win over Leinster last month Ireland fly-half Johnny Sexton has shaken off shoulder and neck knocks and is partnered by Eoin Reddan at half-back, while Ben Teo plays his last game on Irish soil ahead of his summer move to Worcester.Richardt Strauss continues at hooker after scoring his first league tries in two years against Treviso and is one of seven Ireland internationals named in the forwards. Leinster made it three Heineken Cup triumphs in four years when they defeated Ulster in 2012 Jack Conan could make his first appearance since February after being named on the bench alongside Bordeaux-bound Ian Madigan, who says farewell to the RDS.Leinsters only defeat in their last four fixtures was against Ulster and Les Kiss has named an unchanged side for the third successive game. Luke Fitzgerald starts on the wing for Leinsters semi-final clash with Ulster Paddy Jackson, who has scored two tries in as many matches, continues to partner Springbok Ruan Pienaar at half-back with Stuart McCloskey and Luke Marshall named in the centre.Craig Gilroy, Andrew Trimble and Jared Payne form a dangerous back three while Ireland openside Chris Henry makes his 150th Ulster appearance.Ulster have won once in their last 12 visits to the RDS, a 22-18 victory in March 2013. Ulster made it four wins in a row as they crushed the Ospreys on the final day of the regular season Leinster: 15 Isa Nacewa (c), 14 Dave Kearney, 13 Garry Ringrose, 12 Ben Teo, 11 Luke Fitzgerald, 10 Johnny Sexton, 9 Eoin Reddan; 1 Jack McGrath, 2 Richardt Strauss, 3 Mike Ross, 4 Devin Toner, 5 Mick Kearney, 6 Rhys Ruddock, 7 Jordi Murphy, 8 Jamie Heaslip.Replacements: 16 Sean Cronin, 17 Peter Dooley, 18 Tadhg Furlong, 19 Ross Molony, 20 Jack Conan, 21 Luke McGrath, 22 Ian Madigan, 23 Zane Kirchner.Ulster: 15 Jared Payne, 14 Andrew Trimble, 13 Luke Marshall, 12 Stuart McCloskey, 11 Craig Gilroy, 10 Paddy Jackson, 9 Ruan Pienaar; 1 Callum Black, 2 Rory Best (c), 3 Ricky Lutton, 4 Pete Browne, 5 Franco van der Merwe, 6 Iain Henderson, 7 Chris Henry, 8 Sean Reidy.Replacements: 16 Rob Herring, 17 Kyle McCall, 18 Andy Warwick, 19 Robbie Diack, 20 Roger Wilson, 21 Paul Marshall, 22 Stuart Olding, 23 Darren Cave.Watch Leinster v Ulster live on Sky Sports 3 HD on Friday from 7.30pm. 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