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Install https://github.com/pal-robotics/realsense_gazebo_plugin (melodic-devel branch), then you may use this sdf file https://gist.github.com/GPrathap/044fb6d601ccfad61e98fab6f4171e9a , Here I have some more stuff other than a just camera, hope you will able to figure it out. If not let's know, will help you..

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