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Not sure if this helps, but it looks like the full list of realsense_gazebo_plugin configurable parameters are listed in this file: https://github.com/pal-robotics/realsense_gazebo_plugin/blob/melodic-devel/src/RealSensePlugin.cpp

<depthUpdateRate>
<colorUpdateRate>
<infraredUpdateRate>
<depthTopicName>
<depthCameraInfoTopicName>
<colorTopicName>
<colorCameraInfoTopicName>
<infrared1TopicName>
<infrared1CameraInfoTopicName>
<infrared2TopicName>
<infrared2CameraInfoTopicName>
<colorOpticalframeName>
<depthOpticalframeName>
<infrared1OpticalframeName>
<infrared2OpticalframeName>
<rangeMinDepth>
<rangeMaxDepth>
<pointCloud>
<pointCloudTopicName>
<pointCloudCutoff>
<pointCloudCutoffMax>
<prefix>
<robotNamespace>

Might have been a good idea for the author to include the full list of configurables along with data types and example usages and default values in the README file.

Not sure if this helps, but it looks like the full list of realsense_gazebo_plugin configurable parameters are listed in this file: https://github.com/pal-robotics/realsense_gazebo_plugin/blob/melodic-devel/src/RealSensePlugin.cpp

<depthUpdateRate>
<colorUpdateRate>
<infraredUpdateRate>
<depthTopicName>
<depthCameraInfoTopicName>
<colorTopicName>
<colorCameraInfoTopicName>
<infrared1TopicName>
<infrared1CameraInfoTopicName>
<infrared2TopicName>
<infrared2CameraInfoTopicName>
<colorOpticalframeName>
<depthOpticalframeName>
<infrared1OpticalframeName>
<infrared2OpticalframeName>
<rangeMinDepth>
<rangeMaxDepth>
<pointCloud>
<pointCloudTopicName>
<pointCloudCutoff>
<pointCloudCutoffMax>
<prefix>
<robotNamespace>
<depthUpdateRate> (numeric)
<colorUpdateRate> (numeric)
<infraredUpdateRate> (numeric)
<rangeMinDepth> (numeric)
<rangeMaxDepth> (numeric)
<depthTopicName> (string)
<depthCameraInfoTopicName> (string)
<colorTopicName> (string)
<colorCameraInfoTopicName> (string)
<infrared1TopicName> (string)
<infrared1CameraInfoTopicName> (string)
<infrared2TopicName> (string)
<infrared2CameraInfoTopicName> (string)
<colorOpticalframeName> (string)
<depthOpticalframeName> (string)
<infrared1OpticalframeName> (string)
<infrared2OpticalframeName> (string)
<pointCloud> (boolean)
<pointCloudTopicName> (string)
<pointCloudCutoff> (numeric)
<pointCloudCutoffMax> (numeric)
<prefix> (string)
<robotNamespace> (string)

Might have been a good idea for the author to include the full list of configurables along with data types and example usages and default values in the README file. file.