model.config

<?xml version="1.0"?>

<model>
  <name>Camera ROS</name>
  <version>1.0</version>
  <sdf>model.sdf</sdf>

  <author>
    <name>Nate Koenig</name>
    <email>[email protected]</email>
  </author>

  <description>
    A simple camera with a box for visualization. ROS
  </description>
</model>

model.sdf

<?xml version="1.0" ?>
<sdf version="1.4">
  <model name="camera">
    <link name="link">
      <pose>0.05 0.05 0.05 0 0 0</pose>
      <inertial>
        <mass>0.1</mass>
      </inertial>
      <collision name="collision">
        <geometry>
          <box>
            <size>0.1 0.1 0.1</size>
          </box>
        </geometry>
      </collision>
      <visual name="visual">
        <geometry>
          <box>
            <size>0.1 0.1 0.1</size>
          </box>
        </geometry>
      </visual>
      <sensor name="camera" type="camera">
        <camera>
          <horizontal_fov>1.047</horizontal_fov>
          <image>
            <width>320</width>
            <height>240</height>
          </image>
          <clip>
            <near>0.1</near>
            <far>100</far>
          </clip>
        </camera>
        <always_on>1</always_on>
        <update_rate>30</update_rate>
        <visualize>true</visualize>
        <plugin name="camera_ros_controller" filename="libgazebo_ros_camera.so">
          <alwaysOn>true</alwaysOn>
          <cameraName>camera</cameraName>
          <imageTopicName>image_raw</imageTopicName>
          <cameraInfoTopicName>camera_info</cameraInfoTopicName>
        </plugin>
      </sensor>
    </link>
  </model>
</sdf>