model.sdf

<?xml version="1.0" ?>
<sdf version="1.5">
  <model name="static_camera">
	  <static>1</static>
	  <link name="link">
      <pose>0 0 0.1 0 0 0</pose>

      <visual name="visual">
        <geometry>
          <box>
            <size>0.2 0.2 0.2</size>
          </box>
        </geometry>
      </visual>

     <sensor name='camera' type='camera'>
       <camera name='__default__'>
         <horizontal_fov>1.57</horizontal_fov>
         <image>
           <width>1920</width>
           <height>1080</height>
         </image>
         <clip>
           <near>0.1</near>
           <far>100</far>
         </clip>
       </camera>
       <plugin name="gazebo_ros_camera" filename="libgazebo_ros_camera.so">
         <cameraName>camera</cameraName>
         <alwaysOn>true</alwaysOn>
         <updateRate>30</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>camera_depth_optical_frame</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>
         <robotNamespace>/</robotNamespace>
       </plugin>
     </sensor>

    </link>
  </model>
</sdf>