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I agree with the top answer. Here raise an example, hope it will be helpful. Pay attention to camera_frame_optical based on kinect model：

 <link name="camera_link">
            <origin xyz="0 0 0" rpy="0 0 0"/>
            <visual>
                <origin xyz="0 0 0" rpy="0 0 ${H_PI/2}"/>
                <geometry>
                    <mesh filename="package://xxxxx/meshes/kinect.dae" />
                </geometry>
            </visual>
            <collision>
                <geometry>
                    <box size="0.07 0.3 0.09"/>
                </geometry>
            </collision>
        </link>

        <joint name="camera_optical_joint" type="fixed">
            <origin xyz="0 0 0" rpy="-1.5708 0 -1.5708"/>
            <parent link="camera_link"/>
            <child link="camera_frame_optical"/>
        </joint>
        <link name="camera_frame_optical"/>

       <joint name="camera_frame_joint" type="fixed">
        <origin xyz="${kinect_offset_x} ${kinect_offset_y} ${base_link_height/2+0.02}"
                rpy="0 0 0" />
        <parent link="base_link"/>
        <child link="camera_link"/>
    </joint>


<gazebo reference="camera_link">
    <sensor type="depth" name="camera">
        <always_on>true</always_on>
        <update_rate>20.0</update_rate>
        <camera>
            <horizontal_fov>${60.0*H_PI/180.0}</horizontal_fov>
            <image>
                <format>R8G8B8</format>
                <width>640</width>
                <height>480</height>
            </image>
            <clip>
                <near>0.05</near>
                <far>8.0</far>
            </clip>
        </camera>
        <plugin name="kinect_camera_controller" filename="libgazebo_ros_openni_kinect.so">
            <cameraName>camera</cameraName>
            <alwaysOn>true</alwaysOn>
            <updateRate>10</updateRate>
            <imageTopicName>rgb/image_raw</imageTopicName>
            <depthImageTopicName>depth/image_raw</depthImageTopicName>
            <pointCloudTopicName>depth/points</pointCloudTopicName>
            <cameraInfoTopicName>rgb/camera_info</cameraInfoTopicName>
            <depthImageCameraInfoTopicName>depth/camera_info</depthImageCameraInfoTopicName>
            <frameName>camera_frame_optical</frameName>
            <baseline>0.1</baseline>
            <distortion_k1>0.0</distortion_k1>
            <distortion_k2>0.0</distortion_k2>
            <distortion_k3>0.0</distortion_k3>
            <distortion_t1>0.0</distortion_t1>
            <distortion_t2>0.0</distortion_t2>
            <pointCloudCutoff>0.4</pointCloudCutoff>
        </plugin>
    </sensor>
</gazebo>