Hello everyone!

I'm trying to attach a simple camera to the tool tip of my robot (Kuka lwr). The problem is that the camera view is always changing as shown in the video:

https://polimi365-my.sharepoint.com/:v:/g/personal/10522502_polimi_it/EXuBinkz9NRJlq9O5L5lSo8B7VvdVAVFOAfmaITn106_4A?e=6i3bw3

and in these 2 pictures which refer to the same camera view (in the first one the camera is not detecting anything like it is pointing somewhere else, while on the second pic the camera is detecting the red cube on the floor):

It seems like the camera is colliding with something or there is a sort of conflict. At the beginning I though it was a material problem (maybe the camera was set inside the box) but setting it transparent didn't solve the problem. I couldn't find any similar issue on the web so I hope someone can help me! For the camera, I followed the tutorial (http://gazebosim.org/tutorials?tut=ros_gzplugins#Camera) adding the camera description in my .urdf.xacro file and the camera plugin in the .gazebo.xacro file.

Here is the camera description in the xacro file:

    <!-- Camera -->
    <joint name="${name}_joint_camera" type="fixed">
      <parent link="tool_ee"/>
      <child link="${name}_link_camera"/>
      <origin xyz="0 0 0.06" rpy="0 0 0"/>
      <axis xyz="1 0 0" />
    </joint>

    <link name="${name}_link_camera">
      <collision>
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <geometry>
            <box size="0.05 0.05 0.05"/>
        </geometry>
      </collision>

      <visual>
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <geometry>
            <box size="0.05 0.05 0.05"/>
        </geometry>
      </visual>

      <inertial>
        <mass value="1e-5" />
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001" />
      </inertial>
    </link>
  <joint name="camera_optical_joint" type="fixed">
    <origin xyz="0 0 0" rpy="${-pi/2} 0 ${-pi/2}"/>
    <parent link="${name}_link_camera"/>
    <child link="camera_link_optical"/>
  </joint>

  <link name="camera_link_optical">
  </link>

Here the camera plugin of in the gazebo file:

<gazebo reference="lwr_link_camera">
        <mu1>0.2</mu1>
        <mu2>0.2</mu2>
        <material>Gazebo/Transparent</material>
    </gazebo>

    <!-- Camera -->
    <gazebo reference="lwr_link_camera">
        <sensor type="camera" name="camera_sensor1">
            <update_rate>30.0</update_rate>
            <camera name="head">
            <horizontal_fov>1.3962634</horizontal_fov>
            <image>
              <width>800</width>
              <height>800</height>
              <format>R8G8B8</format>
            </image>
            <clip>
              <near>0.02</near>
              <far>300</far>
            </clip>
            <noise>
              <type>gaussian</type>
              <!-- Noise is sampled independently per pixel on each frame.
                   That pixel's noise value is added to each of its color
                   channels, which at that point lie in the range [0,1]. -->
              <mean>0.0</mean>
              <stddev>0.007</stddev>
            </noise>
            </camera>
            <plugin name="camera_controller" filename="libgazebo_ros_camera.so">
                <alwaysOn>true</alwaysOn>
                <updateRate>0.0</updateRate>
                <cameraName>/camera1</cameraName>
                <imageTopicName>image_raw</imageTopicName>
                <cameraInfoTopicName>camera_info</cameraInfoTopicName>
                <frameName>camera_link_optical</frameName>
                <hackBaseline>0.0</hackBaseline>
                <distortionK1>0.0</distortionK1>
                <distortionK2>0.0</distortionK2>
                <distortionK3>0.0</distortionK3>
                <distortionT1>0.0</distortionT1>
                <distortionT2>0.0</distortionT2>
                <CxPrime>0</CxPrime>
                <Cx>0.0</Cx>
                <Cy>0.0</Cy>
                <focalLength>0.0</focalLength>
            </plugin>
        </sensor>
    </gazebo>

Any help is appreciated! Thanks!