libgazebo_ros_openni_kinect not publishing any topic

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Hello! I have been stuck with this problem for a few days now, and I am not sure what is going wrong. Symptoms are very simple, the depth and image topics are not published (nor any other topic)

I am using ros2 (foxy) on ubuntu 20.04 and gazebo 11.1.0 I spawn the urdf in gazebo using a launch file and spawn_entity.py

here is my urdf:

<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- |    This document was autogenerated by xacro from watney2.xacro                  | -->
<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
<!-- =================================================================================== -->
<robot name="robot_description">
  <link name="base_link"/>
  <link name="camera_link">
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0.1"/>
      <geometry>
        <box size="0.1 0.1 0.1"/>
      </geometry>
    </collision>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0.1"/>
      <geometry>
        <box size="0.1 0.1 0.1"/>
      </geometry>
      <material name="orange"/>
    </visual>
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 1"/>
      <mass value="1"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
  </link>
  <gazebo reference="camera_link">
    <sensor name="camera_link_camera" type="depth">
      <update_rate>20</update_rate>
      <camera>
        <horizontal_fov>1.047198</horizontal_fov>
        <image>
          <width>640</width>
          <height>480</height>
          <format>R8G8B8</format>
        </image>
        <clip>
          <near>0.05</near>
          <far>3</far>
        </clip>
      </camera>
      <plugin filename="libgazebo_ros_openni_kinect.so" name="camera_link_controller">
        <baseline>0.2</baseline>
        <alwaysOn>true</alwaysOn>
        <updateRate>1.0</updateRate>
        <cameraName>camera1_ir</cameraName>
        <imageTopicName>/camera1/color/image_raw</imageTopicName>
        <cameraInfoTopicName>/camera1/color/camera_info</cameraInfoTopicName>
        <depthImageTopicName>/camera1/depth/image_raw</depthImageTopicName>
        <depthImageInfoTopicName>/camera1/depth/camera_info</depthImageInfoTopicName>
        <pointCloudTopicName>/camera1/depth/points</pointCloudTopicName>
        <frameName>camera_link</frameName>
        <pointCloudCutoff>0.5</pointCloudCutoff>
        <pointCloudCutoffMax>3.0</pointCloudCutoffMax>
        <distortionK1>0.00000001</distortionK1>
        <distortionK2>0.00000001</distortionK2>
        <distortionK3>0.00000001</distortionK3>
        <distortionT1>0.00000001</distortionT1>
        <distortionT2>0.00000001</distortionT2>
        <CxPrime>0</CxPrime>
        <Cx>0</Cx>
        <Cy>0</Cy>
        <focalLength>0</focalLength>
        <hackBaseline>0</hackBaseline>
      </plugin>
    </sensor>
  </gazebo>
  <joint name="fixed" type="fixed">
    <parent link="base_link"/>
    <child link="camera_link"/>
  </joint>
</robot>