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Defining a Stereo Camera in URDF for usage in Gazebo Simulations

Hello all,

I have been struggling for the past few days to get a Gazebo simulation put together, and the hardest part has proven to be getting sensor data integrated in the simulation. I am trying to write a chunk of code that will represent a stereo camera, which seems to launch with no errors, but I'm not seeing any sensor related topics listed below. Can anyone help me sort out the issue?

Thanks in advance!

The relevant section from my URDF is as follows:

<link
name="ZedCamera">
<inertial>
  <origin
    xyz="-0.015875 1.2526E-17 1.4088E-05"
    rpy="0 0 0" />
  <mass
    value="0.16007" />
  <inertia
    ixx="0.00039322"
    ixy="-3.7717E-21"
    ixz="1.1677E-22"
    iyy="2.5042E-05"
    iyz="-3.0636E-21"
    izz="0.00039512" />
</inertial>
<visual>
  <origin
    xyz="0 0 0"
    rpy="0 0 0" />
  <geometry>
    <mesh
      filename="package://dante_eeTest/meshes/ZedCamera.STL" />
  </geometry>
  <material
    name="">
    <color
      rgba="0.50196 0.50196 0.50196 1" />
  </material>
</visual>
<collision>
  <origin
    xyz="0 0 0"
    rpy="0 0 0" />
  <geometry>
    <mesh
      filename="package://dante_eeTest/meshes/ZedCamera.STL" />
  </geometry>
</collision>
<map name="sensor" flag="gazebo">
  <verbatim key="zed_camera">
    <controller:ros_stereo_camera name="$zed_gz_controller" plugin="libros_stereo_camera.so">
      <alwaysOn>true</alwaysOn>
      <updateRate>60.0</updateRate>
      <leftCamera>l_sensor</leftCamera>
      <rightCamera>r_sensor</rightCamera>
      <topicName>/raw_stereo</topicName>
      <frameName>optical_frame</frameName>
      <CxPrime>960</CxPrime>
      <Cx>960</Cx>
      <Cy>540</Cy>
      <focal_length>1.4</focal_length> <!-- image_width / (2*tan(hfov_radian /2)) -->
      <distortion_k1>-0.16</distortion_k1>
      <distortion_k2>0</distortion_k2>
      <distortion_k3>0</distortion_k3>
      <distortion_t1>0</distortion_t1>
      <distortion_t2>0</distortion_t2>
      <baseline>.12</baseline> <!-- home pos. of robot has +x forward, +y left -->
      <interface:stereocamera name="zed_iface" />
    </controller:ros_stereo_camera>
  </verbatim>
</map>

</link>