model.sdf

<?xml version="1.0" ?>
<sdf version="1.5">
  <model name="servo_camera">
    <static>1</static>
    <link name="link_servo">
      <sensor type="camera" name="servo_camera">
        <update_rate>30</update_rate>
        <camera name="head">
          <horizontal_fov>1.5</horizontal_fov>
          <image>
            <width>1920</width>
            <height>1080</height>
          </image>
          <clip>
            <near>0.35</near>
            <far>100</far>
          </clip>
          <noise>
            <type>gaussian</type>
              <!-- Noise is sampled independently per pixel on each frame.
                That pixel's noise value is added to each of its color
              channels, which at that point lie in the range [0,1]. -->
            <mean>0.0</mean>
            <stddev>0.01</stddev>
          </noise>
        </camera>
        <plugin name="servo_camera_controller" filename="libMRSGazeboCameraPlugin.so">
          <alwaysOn>true</alwaysOn>
          <updateRate>30</updateRate>
          <cameraName>servo_camera</cameraName>
          <imageTopicName>image_raw</imageTopicName>
          <cameraInfoTopicName>camera_info</cameraInfoTopicName>
          <frameName>/servo_camera_frame</frameName>
          <hackBaseline>0.0</hackBaseline>
          <distortionK1>0.0</distortionK1>
          <distortionK2>0.0</distortionK2>
          <distortionK3>0.0</distortionK3>
          <distortionT1>0.0</distortionT1>
          <distortionT2>0.0</distortionT2>
          <x>0.0</x>
          <y>0.0</y>
          <z>0.0</z>
          <roll>0.0</roll>
          <pitch>0.0</pitch>
          <yaw>0.0</yaw>
          <parentFrameName>fcu_uav</parentFrameName>
          <sensorBaseFrameName>servo_camera_sensor_frame</sensorBaseFrameName>
        </plugin>
      </sensor>
    </link>
  </model>
</sdf>