Changing resolution of camera in Gazebo

edit

Hello, I have a simulated Turtlebot3 Waffle Pi in Gazebo that uses the Rasperry Pi V2 camera. According to this documents: https://www.raspberrypi.com/documenta... it should be possible to have video resolution of 1080p. Wondering where you can change settings, looking at the turtlebot3_waffle_pi.gazebo.xacro there's these lines of code:

<gazebo reference="camera_rgb_frame">
    <sensor type="camera" name="Pi Camera">
      <always_on>true</always_on>
      <visualize>$(arg camera_visual)</visualize>
      <camera>
          <horizontal_fov>1.085595</horizontal_fov>
          <image>
              <width>640</width>
              <height>480</height>
              <format>R8G8B8</format>
          </image>
          <clip>
              <near>0.03</near>
              <far>100</far>
          </clip>
      </camera>

Would it be possible to change the camera FOV and resolution by editing this?