ROS2 URDF Gazebo Sensor

RGB Camera

<gazebo reference="${name}_link">
    <sensor type="camera" name="${name}">
        <always_on>true</always_on>
        <update_rate>15.0</update_rate>
        <camera name="${name}">
            <horizontal_fov>1.46608</horizontal_fov>
            <image>
                <width>320</width>
                <height>180</height>
                <format>R8G8B8</format>
            </image>
            <distortion>
                <k1>0.0</k1>
                <k2>0.0</k2>
                <k3>0.0</k3>
                <p1>0.0</p1>
                <p2>0.0</p2>
                <center>0.5 0.5</center>
            </distortion>
        </camera>
        <plugin name="plugin_name" filename="libgazebo_ros_camera.so">
            <ros>
                <!-- <namespace>stereo</namespace> -->
                <remapping>~/image_raw:=image_raw</remapping>
                <remapping>~/camera_info:=camera_info</remapping>
            </ros>
            <!-- Set camera name. If empty, defaults to sensor name (i.e. "sensor_name") -->
            <camera_name>${name}</camera_name>
            <!-- Set TF frame name. If empty, defaults to link name (i.e. "link_name") -->
            <frame_name>${name}_link_optical</frame_name>
            <hack_baseline>0.2</hack_baseline>
        </plugin>
    </sensor>
    <material>Gazebo/Green</material>
</gazebo>