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I found a way to work it.

I am using a gazebo sensor called projection as code present below but when you call the texture you must add it to gazebo root files. As I am using Gazebo 7 I create a texture and move it to folder /usr/share/gazebo-7/media/materials/textures and it works as it should.

I am able to project a texture over objects surfaces and being able to see this texture projected at camera sensor.

    <gazebo reference="projector_sensor_link">
        <!--sensor type="projector" name="projector_tester"-->
        <projector name="projector_test">
            <pose>0 0 0 0 0 0</pose>
            <texture>your_texture.png</texture>
            <fov>${fov}</fov>
            <near_clip>0.1</near_clip>
            <far_clip>10</far_clip>
        </projector>
    </gazebo>