Custom world with objects, Camera to A1 model but URDF/SDF not generated

external/teleop_twist_joy/config/pro_controller.config.yaml

@@ -1,9 +1,9 @@
 axis_linear: 1  # Left thumb stick vertical
-scale_linear: 1.5
-scale_linear_turbo: 2.4
+scale_linear: 1.0
+scale_linear_turbo: 1.0
 
 axis_angular: 0  # Left thumb stick horizontal
-scale_angular: 1.5
+scale_angular: 1.0
 
 enable_button: 7  # ZR
 enable_turbo_button: 5  # R

quad_simulator/a1_description/xacro/const.xacro

@@ -26,6 +26,12 @@
     <xacro:property name="toe_stiffness" value="30000.0"/>
     <xacro:property name="toe_damping" value="1000.0"/>
 
+    <!-- Camera values-->
+    <xacro:property name="camera_offset_x" value="0.2"/>
+    <xacro:property name="camera_offset_y" value="0.02"/>
+    <xacro:property name="camera_offset_z" value="0.00"/>
+    <xacro:property name="camera_size" value="0.02"/>
+
     <!-- kinematic value -->
     <xacro:property name="thigh_offset" value="0.0838"/>
     <xacro:property name="thigh_length" value="0.2"/>

quad_simulator/a1_description/xacro/gazebo.xacro

@@ -49,7 +49,7 @@
             <visualize>true</visualize>
             <topic>__default_topic__</topic>
             <plugin filename="libgazebo_ros_imu_sensor.so" name="imu_plugin">
-                <topicName>trunk_imu</topicName>
+                <topicName>state/imu</topicName>
                 <bodyName>imu_link</bodyName>
                 <updateRateHZ>1000.0</updateRateHZ>
                 <gaussianNoise>0.0</gaussianNoise>
@@ -61,6 +61,47 @@
         </sensor>
     </gazebo>
 
+    <!-- Camera -->
+    <gazebo reference="camera_link">
+        <sensor type="camera" name="camera1">
+        <update_rate>30.0</update_rate>
+        <camera name="head">
+            <horizontal_fov>1.3962634</horizontal_fov>
+            <image>
+            <width>800</width>
+            <height>800</height>
+            <format>R8G8B8</format>
+            </image>
+            <clip>
+            <near>0.02</near>
+            <far>300</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>0.007</stddev>
+            </noise>
+        </camera>
+        <plugin name="camera_controller" filename="libgazebo_ros_camera.so">
+            <alwaysOn>true</alwaysOn>
+            <updateRate>30.0</updateRate>
+            <cameraName>a1/camera1</cameraName>
+            <imageTopicName>camera/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>
+    </gazebo>
+
     <!-- Foot contacts. -->
     <!-- <gazebo reference="lower0">
         <sensor name="FR_foot_contact" type="contact">

quad_simulator/a1_description/xacro/robot.xacro

@@ -117,6 +117,37 @@
         </collision>
     </link>
 
+    <!--Camera-->
+    <joint name="camera_joint" type="fixed">
+        <axis xyz="0 1 0" />
+        <origin xyz="${camera_offset_x} ${camera_offset_y} ${camera_offset_z}" rpy="0 0 0"/>
+        <parent link="trunk"/>
+        <child link="camera_link"/>
+    </joint>
+
+    <link name="camera_link">
+        <collision>
+            <origin xyz="0 0 0" rpy="0 0 0"/>
+            <geometry>
+                <box size="${camera_size} ${camera_size} ${camera_size}"/>
+            </geometry>
+        </collision>
+
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0"/>
+            <geometry>
+            <box size="${camera_size} ${camera_size} ${camera_size}"/>
+                </geometry>
+            <material name="red"/>
+        </visual>
+
+        <inertial>
+            <mass value="1e-5" />
+            <origin xyz="0 0 0" rpy="0 0 0"/>
+            <inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6" />
+        </inertial>
+    </link>
+
     <!--FL-->
     <xacro:leg suffix="0" mirror="1" mirror_dae="True" front_hind="1" front_hind_dae="True"
                hipJointName="0" kneeJointName="1" abductionJointName="8">