Roslaunching URDF cameras

edit

Currently I'm using fuerte on 12.04 ubuntu. I have been using cameras (with gazeboroscamera plugin) successfully. However for it to work, I had to modify the parser_deprecated.cc file : from

  _sdf->GetAttribute("type")->SetFromString("depth")

to

 _sdf->GetAttribute("type")->SetFromString("camera")

Apparently parserdeprecated.cc only supports depth camera. My question is am I missing some other way to successfully use cameras (URDFs) without modifying parserdeprecated.cc ? Is there away to actually get the system to use parser.cc (instead of parser_deprecated)? Does depth camera also provide electro optical data as well as depth data?