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I've added a camera to the simulation. Its gravity is disabled & it also doesn't touch the ground. But it keeps drifting right after inserting. Video of the problem is uploaded here.

Any help is greatly appreciated.

This is the sdf file of the camera:

<?xml version="1.0" ?>
<sdf version="1.5">
  <model name="camera">
  <pose>0 0 0.5 0 0 0 </pose> <!--1.5707963267948966 1.5707963267948966</pose-->
    <static>0</static>
    <link name="link">
      <gravity>0</gravity>
      <inertial>
        <mass>10.1</mass>
        <inertia>
          <ixx>1.000166667</ixx>
          <iyy>1.000166667</iyy>
          <izz>1.000166667</izz>
        </inertia>
      </inertial>
      <collision name="collision">
        <geometry>
          <box>
            <size>0.1 0.1 0.1</size>
          </box>
        </geometry>
      </collision>
      <visual name="visual">
        <geometry>
          <box>
            <size>0.1 0.1 0.1</size>
          </box>
        </geometry>
      </visual>
      <sensor name="camera" type="camera">
        <camera>
          <horizontal_fov>1.047</horizontal_fov>
          <image>
            <width>320</width>
            <height>240</height>
          </image>
          <clip>
            <near>0.1</near>
            <far>100</far>
          </clip>
        </camera>
        <always_on>1</always_on>
        <update_rate>30</update_rate>
        <visualize>true</visualize>
        <plugin name="camera_controller" filename="libgazebo_ros_camera.so">
          <alwaysOn>true</alwaysOn>
          <updateRate>0.0</updateRate>
          <cameraName>free_camera</cameraName>
          <imageTopicName>/free_camera/image_raw</imageTopicName>
          <cameraInfoTopicName>/free_camera/camera_info</cameraInfoTopicName>
          <frameName>camera_link</frameName>
          <hackBaseline>0.07</hackBaseline>
          <distortionK1>0.0</distortionK1>
          <distortionK2>0.0</distortionK2>
          <distortionK3>0.0</distortionK3>
          <distortionT1>0.0</distortionT1>
          <distortionT2>0.0</distortionT2>
        </plugin>
      </sensor>
    </link>
  </model>
</sdf>

I've added a camera to the simulation. Its gravity is disabled & it also doesn't touch the ground. But it keeps drifting right after inserting. Video of the problem is uploaded here.

I tried 1, 10, 100 for the mass & 1, 10, 100 for the inertias. But they don't seem to affect the drifting. Any help is greatly appreciated.

This is the sdf file of the camera:

<?xml version="1.0" ?>
<sdf version="1.5">
  <model name="camera">
  <pose>0 0 0.5 0 0 0 </pose> <!--1.5707963267948966 1.5707963267948966</pose-->
    <static>0</static>
    <link name="link">
      <gravity>0</gravity>
      <inertial>
        <mass>10.1</mass>
        <inertia>
          <ixx>1.000166667</ixx>
          <iyy>1.000166667</iyy>
          <izz>1.000166667</izz>
        </inertia>
      </inertial>
      <collision name="collision">
        <geometry>
          <box>
            <size>0.1 0.1 0.1</size>
          </box>
        </geometry>
      </collision>
      <visual name="visual">
        <geometry>
          <box>
            <size>0.1 0.1 0.1</size>
          </box>
        </geometry>
      </visual>
      <sensor name="camera" type="camera">
        <camera>
          <horizontal_fov>1.047</horizontal_fov>
          <image>
            <width>320</width>
            <height>240</height>
          </image>
          <clip>
            <near>0.1</near>
            <far>100</far>
          </clip>
        </camera>
        <always_on>1</always_on>
        <update_rate>30</update_rate>
        <visualize>true</visualize>
        <plugin name="camera_controller" filename="libgazebo_ros_camera.so">
          <alwaysOn>true</alwaysOn>
          <updateRate>0.0</updateRate>
          <cameraName>free_camera</cameraName>
          <imageTopicName>/free_camera/image_raw</imageTopicName>
          <cameraInfoTopicName>/free_camera/camera_info</cameraInfoTopicName>
          <frameName>camera_link</frameName>
          <hackBaseline>0.07</hackBaseline>
          <distortionK1>0.0</distortionK1>
          <distortionK2>0.0</distortionK2>
          <distortionK3>0.0</distortionK3>
          <distortionT1>0.0</distortionT1>
          <distortionT2>0.0</distortionT2>
        </plugin>
      </sensor>
    </link>
  </model>
</sdf>