<?xml version="1.0" ?> <gazebo version="1.2"> <model name="camera"> <link name="link"> <gravity>false</gravity> <pose>0.05 0.05 0.05 0 0 0</pose> <inertial> <mass>0.1</mass> </inertial> <visual name="visual"> <geometry> <box> <size>0.1 0.1 0.1</size> </box> </geometry> </visual> <sensor name="camera" type="camera"> <camera> <horizontal_fov>1.047</horizontal_fov> <image> <width>320</width> <height>240</height> </image> <clip> <near>0.1</near> <far>100</far> </clip> </camera> <always_on>1</always_on> <update_rate>30</update_rate> <visualize>true</visualize> </sensor> </link> </model> </gazebo>