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After looking around for a little while I was able to recreate a gazebo_ros_camera. Here is the new .model file as an example for anyone looking to create a camera to stream ROS images in the future:

 <gazebo version='1.0'>

<model name="overhead_camera"> <link name="link"> <origin pose="0 0 0 0 0 0"/>

  <inertial mass="0.1">
    <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
  </inertial>

  <visual name="visual">
    <origin pose="0 0 0 0 0 0"/>
    <geometry>
      <box size="0.1 0.1 0.1"/>
    </geometry>
  </visual>

  <sensor name='camera' type='camera' always_on='1' update_rate='30' visualize='true'>
    <camera>
      <horizontal_fov angle='1.57079633'/>
      <image width='640' height='480' format='R8G8B8'/>
      <clip near='0.1' far='100'/>
    </camera>
    <plugin name="camera_plugin" filename="libgazebo_ros_camera.so">
        <alwaysOn>true</alwaysOn>
        <imageTopicName>image_raw</imageTopicName>
        <cameraInfoTopicName>camera_info</cameraInfoTopicName>
        <updateRate>30.0</updateRate>
        <cameraName>overhead_camera</cameraName>
        <frameName>overhead_camera_frame</frameName>
        <CxPrime>320.5</CxPrime>
        <Cx>320.5</Cx>
        <Cy>240.5</Cy>
        <hackBaseline>0</hackBaseline>
        <focalLength>320.000101</focalLength>
        <distortionK1>0.0</distortionK1>
        <distortionK2>0.0</distortionK2>
        <distortionK3>0.0</distortionK3>
        <distortionT1>0.0</distortionT1>
        <distortionT2>0.0</distortionT2>
    </plugin>
  </sensor>
</link>

</model> </gazebo>

After looking around for a little while I was able to recreate a gazebo_ros_camera. Here is the new .model file as an example for anyone looking to create a camera to stream ROS images in the future:

 <gazebo version='1.0'>

<model name="overhead_camera"> <link name="link"> <origin pose="0 0 0 0 0 0"/>

0"/>

      <inertial mass="0.1">
     <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
   </inertial>

   <visual name="visual">
     <origin pose="0 0 0 0 0 0"/>
     <geometry>
       <box size="0.1 0.1 0.1"/>
     </geometry>
   </visual>

   <sensor name='camera' type='camera' always_on='1' update_rate='30' visualize='true'>
     <camera>
       <horizontal_fov angle='1.57079633'/>
       <image width='640' height='480' format='R8G8B8'/>
       <clip near='0.1' far='100'/>
     </camera>
     <plugin name="camera_plugin" filename="libgazebo_ros_camera.so">
         <alwaysOn>true</alwaysOn>
         <imageTopicName>image_raw</imageTopicName>
         <cameraInfoTopicName>camera_info</cameraInfoTopicName>
         <updateRate>30.0</updateRate>
         <cameraName>overhead_camera</cameraName>
         <frameName>overhead_camera_frame</frameName>
         <CxPrime>320.5</CxPrime>
         <Cx>320.5</Cx>
         <Cy>240.5</Cy>
         <hackBaseline>0</hackBaseline>
         <focalLength>320.000101</focalLength>
         <distortionK1>0.0</distortionK1>
         <distortionK2>0.0</distortionK2>
         <distortionK3>0.0</distortionK3>
         <distortionT1>0.0</distortionT1>
         <distortionT2>0.0</distortionT2>
     </plugin>
   </sensor>
 </link>
  </model>
</gazebo>