Publishing tf from Gazebo camera to Rviz

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Hello,

I am using the braccio_arm ( https://github.com/grassjelly/ros_bra... ) and trying to learn and simulate pick and place. I am able to launch the arm independently and work with it. Now, I created a world in Gazebo and would like to publish the PCL data from gazebo to Rviz and then plan to use pick and place. I face 2 issues, 1. I am unable to transform data from camera_link in Gazebo to base_link of robot. Kindly help. I followed the tutorial here and was added camera_link on my gazebo fie and URDF file.

Gazebo world has a kinect at 1.1 m in z and a table with 3 shapes on it. The kinect plugin code:

  <plugin name='camera_link_plugin' filename='libgazebo_ros_openni_kinect.so'>
    <baseline>0.2</baseline>
    <alwaysOn>true</alwaysOn>
    <updateRate>0.0</updateRate>
    <cameraName>camera_ir</cameraName>
    <imageTopicName>/camera/depth/image_raw</imageTopicName>
    <cameraInfoTopicName>/camera/depth/camera_info</cameraInfoTopicName>
    <depthImageTopicName>/camera/depth/image_raw</depthImageTopicName>
    <depthImageInfoTopicName>/camera/depth/camera_info</depthImageInfoTopicName>
    <pointCloudTopicName>/camera/depth/points</pointCloudTopicName>
    <frameName>camera_link</frameName>
    <pointCloudCutoff>0.05</pointCloudCutoff>
    <distortionK1>0</distortionK1>
    <distortionK2>0</distortionK2>
    <distortionK3>0</distortionK3>
    <distortionT1>0</distortionT1>
    <distortionT2>0</distortionT2>
    <CxPrime>0</CxPrime>
    <Cx>0</Cx>
    <Cy>0</Cy>
    <focalLength>0</focalLength>
    <hackBaseline>0</hackBaseline>
  </plugin>
</sensor>

My URDF links for the robot:

<robot xmlns:xacro="http://www.ros.org/wiki/xacro" 
xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
    xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
    xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
name="braccio">

  <xacro:property name="camera_link" value="0.05" /> <!-- Size of square 'camera' box -->
  <xacro:property name="damping_value" value="241.35"/>
  <xacro:property name="friction_value" value="24.135"/>

<xacro:property name="kinect_box_length" value="0.3556" />
<xacro:property name="kinect_box_width" value="0.1778" />
<xacro:property name="kinect_box_height" value="0.0762" />
<xacro:property name="kinect_box_mass" value="1.274595" />

<xacro:macro name="inertial_matrix_cuboid" params="mass box_length box_width">
               <inertial>
                       <mass value="${mass}" />
                       <inertia ixx="${mass/12*(box_length*box_length)}" 
                                ixy = "0" ixz = "0"
                                iyy="${mass/12*(box_width*box_width)}" iyz = "0"
                                izz="${mass/12*(box_length*box_length + box_width*box_width)}" />
               </inertial>
</xacro:macro>

<xacro:macro name="transmission_block" params="joint_name idx">
      <transmission name="tran_${idx}">
        <type>transmission_interface/SimpleTransmission</type>
        <joint name="${joint_name}">
          <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
        </joint>
        <actuator name="motor__${idx}">
          <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
          <mechanicalReduction>1</mechanicalReduction>
        </actuator>
      </transmission>
</xacro:macro>

<link name="base_footprint"/>

<joint name="base_footprint_joint" type="fixed">
    <parent link="base_footprint"/>
    <child link="base_link"/>
  </joint>

    <link name="base_link">
    <visual>
      <geometry>
    <cylinder length="0.01" radius=".053" />
      </geometry>
      <material name="black"/>
      <origin rpy="0 0 0" xyz="0 0 0"/>
    </visual>
    <inertial>
      <mass value="2"/>
    <inertia ixx="0.015" ixy="0" ixz="0" iyy="0.00666666666667" iyz="0" izz="0.0216666666667"/>
    </inertial>
  </link>

    <link name="camera_link"> 
    <xacro:inertial_matrix_cuboid mass="${kinect_box_mass}" box_length="${kinect_box_length}" box_width="${kinect_box_width}"/>
    </link>

  <joint name="camera_joint" type="fixed">
    <origin xyz="0 0 1.1" rpy="0 0 0"/> 
    <parent link="base_link"/>
    <child link="camera_link"/>
  </joint>

  <link name="braccio_base_link">
    <visual>
      <geometry>
        <mesh filename="package://braccio_arduino_ros_rviz/stl/braccio_base.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="orange"/>
      <origin rpy="0 ...