Dear users,

I am a ros beginner and I'm trying to attach a color sensor to my urdf 2-wheeled robot, using the plugin realsensegazeboplugin, cloned from this repo https://github.com/pal-robotics/realsense_gazebo_plugin. I'm doing this by including the following xacro file to the robot description xacro:

<?xml version="1.0"?>

<!-- --> <!-- --> <!-- --> <!-- -->

<joint name="realsense_front_joint_${id}" type="fixed">
  <axis xyz="0 0 1" />
  <origin rpy="0 1.5708 0" xyz="${x} ${y} ${z}" />
  <!-- <origin rpy="0 1.5708 0" xyz="${x} ${y} ${z}" /> -->
  <parent link="footprint" />
  <child link="base_realsense_front_${id}" />
</joint>
<link name="base_realsense_front_${id}">
  <collision>
    <!-- <origin xyz="${x} ${y} ${z+1}" rpy="0 0 0" /> -->
    <geometry>
      <box size="0.01 0.005 0.005" />
    </geometry>
  </collision>
  <visual>
    <!-- <origin xyz="${x} ${y} ${z+1}" rpy="0 0 0" /> -->
    <geometry>
      <box size="0.01 0.005 0.005" />
    </geometry>
  </visual>
  <inertial>
    <mass value="1e-5" />
    <!-- <origin xyz="${x} ${y} ${z}" rpy="0 0 0" /> -->
    <inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6" />
  </inertial>
  <!-- <material>Gazebo/Brown</material> -->
</link>

<gazebo reference="base_realsense_front_${id}">

  <sensor name='color' type='camera'>
    <pose>0 -0.046 0.004 0 0 0</pose>
    <camera name='__default__'>
      <horizontal_fov>1.047</horizontal_fov>
      <image>
        <width>640</width>
        <height>480</height>
        <format>RGB_INT8</format>
      </image>
      <clip>
        <near>0.1</near>
        <far>100</far>
      </clip>
      <noise>
        <type>gaussian</type>
        <mean>0</mean>
        <stddev>0.007</stddev>
      </noise>
    </camera>
    <always_on>1</always_on>
    <update_rate>60</update_rate>
    <visualize>1</visualize>

    <plugin name="realsense_plugin" filename="librealsense_gazebo_plugin.so">
      <prefix>cam</prefix>
      <depthUpdateRate>60.0</depthUpdateRate>
      <colorUpdateRate>60.0</colorUpdateRate>
      <infraredUpdateRate>60.0</infraredUpdateRate>
      <depthTopicName>depth/image_raw</depthTopicName>
      <depthCameraInfoTopicName>depth/camera_info</depthCameraInfoTopicName>
      <colorTopicName>color/image_raw</colorTopicName>
      <colorCameraInfoTopicName>color/camera_info</colorCameraInfoTopicName>
      <infrared1TopicName>infra1/image_raw</infrared1TopicName>
      <infrared1CameraInfoTopicName>infra1/camera_info</infrared1CameraInfoTopicName>
      <infrared2TopicName>infra2/image_raw</infrared2TopicName>
      <infrared2CameraInfoTopicName>infra2/camera_info</infrared2CameraInfoTopicName>
      <colorOpticalframeName>color_optical_frame</colorOpticalframeName>
      <depthOpticalframeName>depth_optical_frame</depthOpticalframeName>
      <infrared1OpticalframeName>infrared1_optical_frame</infrared1OpticalframeName>
      <infrared2OpticalframeName>infrared2_optical_frame</infrared2OpticalframeName>
      <rangeMinDepth>0.2</rangeMinDepth>
      <rangeMaxDepth>10.0</rangeMaxDepth>
      <pointCloud>false</pointCloud>
      <pointCloudTopicName>depth/points</pointCloudTopicName>
      <pointCloudCutoff>0.5</pointCloudCutoff>
    </plugin>

  </sensor>
</gazebo>


<!-- <gazebo reference="base_light_front_${id}">
  <sensor name='cameracolor' type='camera'>
    <camera name='camera'>
      <horizontal_fov>1.047</horizontal_fov>
      <image>
        <width>320</width>
        <height>240</height>
      </image>
      <clip>
        <near>0.001</near>
        <far>10</far>
      </clip>
    </camera>
    <always_on>1</always_on>
    <updateRate>30.0</updateRate>
    <visualize>1</visualize>
  </sensor>
</gazebo>

<gazebo>
  <plugin name="realsense_gazebo_plugin" filename="librealsense_gazebo_plugin.so">
    <prefix>camera</prefix>
    <colorUpdateRate>30.0</colorUpdateRate>
    <colorTopicName>color/image_raw</colorTopicName>
    <depthImageTopicName>depth/image_raw</depthImageTopicName>
    <pointCloudTopicName>depth/points</pointCloudTopicName>
    <colorCameraInfoTopicName>color/camera_info</colorCameraInfoTopicName>
    <colorOpticalframeName>optical_frame</colorOpticalframeName>
  </plugin>
</gazebo> -->

/xacro:macro

However, when I launch the robot, start the simulation and list the topics from ROS, I can't find any topic related to the camera besides /camera/parameterdescriptions and /camera/parameterupdates. Am I missing something?

I use Gazebo11 with ROS Noetic on Linux Mint 20 (Ulyana).

Thanks in advance!