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How to call gazebo_msg/GetLinkState service for a sensor mounted on a robot?

Hi all,

I have the following problem:

To make my own robot in gazebo (a diff-drive with a laser and a kinect) I wrote the following urdf:


Now, I'd like to call gazebo_msgs/GetLinkState service to retrieve the pose of the sensor with respect to the gazebo world.

If I do that, that's the output I get:

image description

In fact, in the gazebo window, the robot seems to be made of just few links:

image description

How can I have gazebo to see also camera_link in order to retrieve its pose?