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The solution that worked for me was putting the model description directly inside the world .sdf file. Under the <model> tag, instead of <uri> I have <link> which contains the entire description (the same one that was in the model.sdf file).

So no more model.config or model.sdf. The collada (.dae) mesh file is still in a separate folder though.

I don't know what the reason behind this is, and it bloats the world file, but at least now my camera output topic contains the rocks!