sutu_drone and realsesense d435

<?xml version='1.0'?>
<sdf version='1.4'>
<model name='sjtu_drone'>
    <plugin name='simple_drone' filename='libplugin_drone.so'>
        <bodyName>base_link</bodyName>
        <imuTopic>/drone/imu</imuTopic>
        <rollpitchProportionalGain>10.0</rollpitchProportionalGain>
        <rollpitchDifferentialGain>5.0</rollpitchDifferentialGain>
        <rollpitchLimit>0.5</rollpitchLimit>
        <yawProportionalGain>2.0</yawProportionalGain>
        <yawDifferentialGain>1.0</yawDifferentialGain>
        <yawLimit>1.5</yawLimit>
        <velocityXYProportionalGain>5.0</velocityXYProportionalGain>
        <velocityXYDifferentialGain>2.3</velocityXYDifferentialGain>
        <velocityXYLimit>2</velocityXYLimit>
        <velocityZProportionalGain>5.0</velocityZProportionalGain>
        <velocityZDifferentialGain>1.0</velocityZDifferentialGain>
        <velocityZLimit>-1</velocityZLimit>
        <positionXYProportionalGain>1.1</positionXYProportionalGain>
        <positionXYDifferentialGain>0.0</positionXYDifferentialGain>
        <positionXYIntegralGain>0.0</positionXYIntegralGain>
        <positionXYLimit>5</positionXYLimit>
        <positionZProportionalGain>1.0</positionZProportionalGain>
        <positionZDifferentialGain>0.2</positionZDifferentialGain>
        <positionZLimit>-1</positionZLimit>
        <maxForce>30</maxForce>
        <motionSmallNoise>0.05</motionSmallNoise>
        <motionDriftNoise>0.03</motionDriftNoise>
        <motionDriftNoiseTime>5.0</motionDriftNoiseTime>
    </plugin>

     <!-- pose of the quadrotor in the world frame -->
     <pose>0 0 0.04 0 0 0</pose>

      <link name='base_link'>
        <inertial>
          <mass>1.477</mass>
          <pose>0 0 0 0 0 0</pose>
          <inertia>
            <ixx>0.1152</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>0.1152</iyy>
            <iyz>0</iyz>
            <izz>0.218</izz>
	        </inertia>
        </inertial>

        <visual name='visual'>
          <geometry>
          <mesh><uri>file://models/sjtu_drone/quadrotor_4.dae</uri></mesh>
          </geometry>
        </visual>

        <collision name='collision'>
          <geometry>
          <mesh><uri>file://models/sjtu_drone/quadrotor_4.dae</uri></mesh>
          </geometry>
        </collision>

        <gravity>1</gravity>

        <sensor name='sensor_imu' type='imu'>
        <always_on> 1 </always_on>
        <update_rate> 100 </update_rate>
        <pose> 0 0 0 0 0 0 </pose>
        <plugin name='ros_imu' filename='libplugin_ros_imu.so'>
        </plugin> 
        <imu>
          <noise>
              <type>gaussian</type>
            <rate>
              <mean> 0 </mean>
              <stddev> 0 </stddev>
            </rate>
            <accel>
              <mean> 0 </mean>
              <stddev> 0.00 </stddev>
            </accel>
          </noise>
        </imu>
        </sensor>
     </link>

  <model name="realsense_camera">
    <!-- <plugin name="realsense_plugin" filename="librealsense_gazebo_plugin.so"/> -->
    <plugin name="realsense_camera" filename="librealsense_gazebo_plugin.so">
        <!-- <prefix>realsense_camera</prefix> -->
        <depthUpdateRate>60.0</depthUpdateRate>
        <colorUpdateRate>60.0</colorUpdateRate>
        <infraredUpdateRate>60.0</infraredUpdateRate>
        <depthTopicName>depth/color/image_raw</depthTopicName>
        <depthCameraInfoTopicName>depth/color/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>0.5</rangeMinDepth>
        <rangeMaxDepth>10.0</rangeMaxDepth>
        <pointCloud>true</pointCloud>
        <pointCloudTopicName>depth/color/points</pointCloudTopicName>
        <pointCloudCutoff>0.25</pointCloudCutoff>
        <pointCloudCutoffMax>9.0</pointCloudCutoffMax>
      </plugin>
    <pose frame="">0 0 0.0 0 0 0</pose>
    <link name="link">
      <inertial>
        <mass>0.0615752</mass>
        <inertia>
          <ixx>9.108e-05</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>2.51e-06</iyy>
          <iyz>0</iyz>
          <izz>8.931e-05</izz>
        </inertia>
        <pose frame=''>0 0 0 0 0 0</pose>
      </inertial>
      <self_collide>0</self_collide>
      <enable_wind>0</enable_wind>
      <kinematic>0</kinematic>
      <gravity>1</gravity>
      <visual name="visual">
        <geometry>
          <mesh>
            <uri>model://realsense_camera/meshes/realsense.dae</uri>
          </mesh>
        </geometry>
      </visual>
      <collision name='collision'>
        <laser_retro>0</laser_retro>
        <max_contacts>10</max_contacts>
        <pose frame=''>0 0 0 0 -0 0</pose>
        <geometry>
          <box>
            <size>0.0078 0.130 0.0192</size>
          </box>
        </geometry>
        <surface>
          <friction>
            <ode>
              <mu>1</mu>
              <mu2>1</mu2>
              <fdir1>0 0 0</fdir1>
              <slip1>0</slip1>
              <slip2>0</slip2>
            </ode>
            <torsional>
              <coefficient>1</coefficient>
              <patch_radius>0</patch_radius>
              <surface_radius>0</surface_radius>
              <use_patch_radius>1</use_patch_radius>
              <ode>
                <slip>0</slip>
              </ode>
            </torsional>
          </friction>
          <bounce>
            <restitution_coefficient>0</restitution_coefficient>
            <threshold>1e+06</threshold>
          </bounce>
          <contact>
            <collide_without_contact>0</collide_without_contact>
            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
            <collide_bitmask>1</collide_bitmask>
            <ode>
              <soft_cfm>0</soft_cfm>
              <soft_erp>0.2</soft_erp>
              <kp>1e+13</kp>
              <kd>1</kd>
              <max_vel>0.01</max_vel>
              <min_depth>0</min_depth>
            </ode>
            <bullet>
              <split_impulse>1</split_impulse>
              <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
              <soft_cfm>0</soft_cfm>
              <soft_erp>0.2</soft_erp>
              <kp>1e+13</kp>
              <kd>1</kd>
            </bullet>
          </contact>
        </surface>
      </collision>
      <sensor name="color" type="camera">
        <pose frame="">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>0.0</mean>
            <stddev>0.007</stddev>
          </noise>
        </camera>
        <always_on>1</always_on>
        <update_rate>60</update_rate>
        <visualize>1</visualize>
      </sensor>
      <sensor name="ired1" type="camera">
        <pose frame="">0 -0.06 0.004 0 0 0</pose>
        <camera name="__default__">
          <horizontal_fov>1.047</horizontal_fov>
          <image>
            <width>640</width>
            <height>480</height>
            <format>L_INT8</format>
          </image>
          <clip>
            <near>0.1</near>
            <far>100</far>
          </clip>
          <noise>
            <type>gaussian</type>
            <mean>0.0</mean>
            <stddev>0.007</stddev>
          </noise>
        </camera>
        <always_on>1</always_on>
        <update_rate>60</update_rate>
        <visualize>0</visualize>
      </sensor>
      <sensor name="ired2" type="camera">
        <pose frame="">0 0.01 0.004 0 0 0</pose>
        <camera name="__default__">
          <horizontal_fov>1.047</horizontal_fov>
          <image>
            <width>640</width>
            <height>480</height>
            <format>L_INT8</format>
          </image>
          <clip>
            <near>0.1</near>
            <far>100</far>
          </clip>
          <noise>
            <type>gaussian</type>
            <mean>0.0</mean>
            <stddev>0.007</stddev>
          </noise>
        </camera>
        <always_on>1</always_on>
        <update_rate>60</update_rate>
        <visualize>0</visualize>
      </sensor>
      <sensor name="depth" type="depth">
        <pose frame="">0 -0.03 0.004 0 0 0</pose>
        <camera name="__default__">
          <horizontal_fov>1.047</horizontal_fov>
          <image>
            <width>640</width>
            <height>480</height>
          </image>
          <clip>
            <near>0.1</near>
            <far>100</far>
          </clip>
          <noise>
            <type>gaussian</type>
            <mean>0.0</mean>
            <stddev>0.007</stddev>
          </noise>
        </camera>
        <always_on>1</always_on>
        <update_rate>60</update_rate>
        <visualize>0</visualize>
      </sensor>
    </link>
  </model>
  <joint name="joint_00" type="revolute">
      <child>realsense_camera::link</child>
      <parent>sjtu_drone::base_link</parent>
      <axis>
        <xyz>0 0 0.2</xyz>
        <limit>
          <upper>0</upper>
          <lower>0</lower>
        </limit>
      </axis>
    </joint>

</model>
</sdf>