model.sdf

<?xml version='1.0'?>
<sdf version='1.6'>
  <model name='camera'>
    <static>true</static>
    <link name='link'>
      <visual name='visual'>
        <geometry>
          <box>
            <size>0.1 0.1 0.1</size>
          </box>
        </geometry>
      </visual>
      <sensor name='apriltag_camera' type='camera'>
        <camera>
          <save enabled="false">
            <path>/tmp/camera_save_tutorial</path>
          </save>
          <horizontal_fov>1.047</horizontal_fov>
          <image>
            <width>5760</width>
            <height>3240</height>
          </image>
          <clip>
            <near>0.1</near>
            <far>500</far>
          </clip>
        </camera>
        <always_on>1</always_on>
        <update_rate>50</update_rate>
        <plugin name="camera_controller" filename="libgazebo_ros_camera.so">
          <alwaysOn>true</alwaysOn>
          <updateRate>0.0</updateRate>
          <cameraName>/apriltag_camera</cameraName>
          <imageTopicName>image_raw</imageTopicName>
          <cameraInfoTopicName>camera_info</cameraInfoTopicName>
          <frameName>camera_link</frameName>
          <hackBaseline>0.07</hackBaseline>
          <distortionK1>0.0</distortionK1>
          <distortionK2>0.0</distortionK2>
          <distortionK3>0.0</distortionK3>
          <distortionT1>0.0</distortionT1>
          <distortionT2>0.0</distortionT2>
        </plugin>
      </sensor>
    </link>
  </model>


</sdf>