Hi I want to attach a fixed camera on my robot base in Gazebo and RViz and there are two problems with this. First of all, I can not display the camera itself (its just a box). Is there a mistake in my code? And second is, that the image stream with rqtimageview is right, but the one in RViz seems to have something like an overlay. How so that RViz displays the same topic different?

<?xml version="1.0"?>

<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="kinova">

  <xacro:property name="M_PI" value="3.1415926535897931" />
  <xacro:property name="camera_size" value="1" />
  <xacro:property name="offset_from_link_x" value="0.05" />
  <xacro:property name="offset_from_link_y" value="0.0" />
  <xacro:property name="offset_from_link_z" value="0.0" />

  <link name="camera_link">
    <visual>
      <geometry>
        <box size="${camera_size} ${camera_size} ${camera_size}"/>
      </geometry>
      <material>
        <script>
          <name>Gazebo/Red</name>
          <uri>file://media/materials/scripts/gazebo.material</uri>
        </script>
      </material>
    </visual>
  </link>

  <joint name="camera_joint" type="fixed">
    <parent link="kinova_link_base"/>
    <child link="camera_link"/>
    <origin rpy="${M_PI/2} ${-M_PI/2} 0" xyz="${offset_from_link_x} ${offset_from_link_y} ${offset_from_link_z}"/>
    <axis xyz="1 0 0" />
  </joint>

  <gazebo reference="camera_link">
    <sensor type="camera" name="camera_camera_sensor">
      <update_rate>30.0</update_rate>
      <camera>
        <pose>0 0 0 ${-M_PI/2} 0 ${-M_PI/2}</pose>
        <horizontal_fov>${85 * M_PI/180.0}</horizontal_fov>
        <image>
          <format>R8G8B8</format>
          <width>1020</width>
          <height>1020</height>
        </image>
        <clip>
          <near>0.01</near>
          <far>100</far>
        </clip>
      </camera>

      <plugin name="camera_camera_controller" filename="libgazebo_ros_camera.so">
        <alwaysOn>true</alwaysOn>
        <updateRate>0.0</updateRate>
        <cameraName>kinova/camera</cameraName>
        <imageTopicName>image_raw</imageTopicName>
        <cameraInfoTopicName>camera_info</cameraInfoTopicName>
        <frameName>camera_link</frameName>
        <hackBaseline>0.07</hackBaseline>
        <distortionK1>0.0</distortionK1>
        <distortionK2>0.0</distortionK2>
        <distortionK3>0.0</distortionK3>
        <distortionT1>0.0</distortionT1>
        <distortionT2>0.0</distortionT2>
      </plugin>
    </sensor>
  </gazebo>

</robot>

Thanks for your help!