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In case that someone has this problem, i just solved it changing the inertial values. Gazebo has a problem when has to work with small values in the inertial block. Additionally I just omitted the parent tag, it is taken from the joint.

If you need to orientate the position of the optical focus you can do it by the pose property tag of the gazebo plugin

<robot xmlns:xacro="http://ros.org/wiki/xacro">

<xacro:property name="M_PI" value="3.1415926535897931"/>

<xacro:macro name="camera_link" params="parent">

<link name="camera_link">

  <collision>
    <origin xyz="0 0 0" rpy="0 0 0" />
    <geometry>
      <mesh filename="package://sensors_and_actuators/meshes/camara.stl" scale="0.1 0.1 0.1"/>

    </geometry>
  </collision>

  <visual>
    <origin xyz="0 0 0" rpy="0 0 0" />
    <geometry>
      <mesh filename="package://sensors_and_actuators/meshes/camara.stl" scale="0.1 0.1 0.1"/>
    </geometry>
    <material name="grey">
        <color rgba="0.2 0.2 0.2 1.0"/>
    </material>
  </visual>


  <inertial>
    <mass value="0.001" />
    <origin xyz="0 0 0" rpy="0 0 0" />
    <inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001" />
  </inertial>

</link>



<joint name="camera_joint" type="fixed">
    <parent link="${parent}"/>
    <child link="camera_link"/>
    <origin rpy="0 0 0" xyz="0.047 0.0 0.0"/>
    <axis xyz="1 0 0" />
</joint>



<gazebo reference="camera_link">
  <sensor type="camera" name="camera_camera_sensor">
    <update_rate>30.0</update_rate>
    <camera>
      <pose>0.035 0 0.078 0 ${-M_PI/2} 0</pose>
      <horizontal_fov>${85 * M_PI/180.0}</horizontal_fov>
      <image>
        <format>R8G8B8</format>
        <width>1020</width>
        <height>1020</height>
      </image>
      <clip>
        <near>0.01</near>
        <far>100</far>
      </clip>
    </camera>

    <plugin name="camera_camera_controller" filename="libgazebo_ros_camera.so">
      <alwaysOn>true</alwaysOn>
      <updateRate>0.0</updateRate>
      <cameraName>arm_sensor/camera</cameraName>
      <imageTopicName>image_raw</imageTopicName>
      <cameraInfoTopicName>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>
</gazebo>

</xacro:macro>

</robot>

In case that someone has this problem, i just solved it changing the inertial values. Gazebo has a problem when has to work with small values in the inertial block. Additionally I just omitted the parent tag, it is taken from the joint.

If you need to orientate the position of the optical focus you can do it by the pose property tag of the gazebo plugin

<?xml version="1.0"?>

<robot xmlns:xacro="http://ros.org/wiki/xacro">
 
xmlns:xacro="http://ros.org/wiki/xacro">

  <xacro:property name="M_PI" value="3.1415926535897931"/>
 
value="3.1415926535897931" />

  <xacro:macro name="camera_link" params="parent">
 
params="parent">


    <link name="camera_link">

   <collision>
     <origin xyz="0 0 0" rpy="0 0 0" />
     <geometry>
       <mesh filename="package://sensors_and_actuators/meshes/camara.stl" scale="0.1 0.1 0.1"/>

     </geometry>
   </collision>

   <visual>
     <origin xyz="0 0 0" rpy="0 0 0" />
     <geometry>
       <mesh filename="package://sensors_and_actuators/meshes/camara.stl" scale="0.1 0.1 0.1"/>
     </geometry>
     <material name="grey">
         <color rgba="0.2 0.2 0.2 1.0"/>
     </material>
   </visual>


   <inertial>
     <mass value="0.001" />
     <origin xyz="0 0 0" rpy="0 0 0" />
     <inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001" />
   </inertial>

 </link>



 <joint name="camera_joint" type="fixed">
     <parent link="${parent}"/>
     <child link="camera_link"/>
     <origin rpy="0 0 0" xyz="0.047 0.0 0.0"/>
     <axis xyz="1 0 0" />
 </joint>



 <gazebo reference="camera_link">
   <sensor type="camera" name="camera_camera_sensor">
     <update_rate>30.0</update_rate>
     <camera>
       <pose>0.035 0 0.078 0 ${-M_PI/2} 0</pose>
       <horizontal_fov>${85 * M_PI/180.0}</horizontal_fov>
       <image>
         <format>R8G8B8</format>
         <width>1020</width>
         <height>1020</height>
       </image>
       <clip>
         <near>0.01</near>
         <far>100</far>
       </clip>
     </camera>

     <plugin name="camera_camera_controller" filename="libgazebo_ros_camera.so">
       <alwaysOn>true</alwaysOn>
       <updateRate>0.0</updateRate>
       <cameraName>arm_sensor/camera</cameraName>
       <imageTopicName>image_raw</imageTopicName>
       <cameraInfoTopicName>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>
 </gazebo>
  </xacro:macro>

</robot>
  
</xacro:macro>
 
</robot>