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Insert Depth Camera model into urdf file


I'm new to the Gazebo community. I want to add a Depth Camera to my robot, I added a depth camera model to my Gazebo with success and I can visualize the depth image on Rviz. Now I want to joint the same model to my robot so it sticks to it wherever the robot move. I can't find any documentation online about how to modify my urdf file for a Depth Camera. I find quite some help to do the same for a LiDar or a Standard Camera, but it doesn't work for a depth camera.

Can you guide me with any help please ?