add pointcloud2 to a camera

edit

i tried to edit my model from GAZEBO TUTORIAL and nothing work for me

my camera model

<link name="camera_depth_frame">
<gravity>false</gravity>
<pose>0.12 0 0.65 -1.5708 0 -1.5708</pose>
</link>

<link name="camera_link">
<gravity>false</gravity>
<pose>0.337 0 0.076 0 0 0</pose>

<visual name="camera_visual">
  <pose>-0.005 0 0 0 0 0</pose>
  <geometry>
    <box>
      <size>0.015 0.08 0.022</size>
    </box>
  </geometry>
  <material>
    <ambient>255.0 247.0 0.0 1.0</ambient>
    <diffuse>255.0 247.0 0.0 1.0</diffuse>
    <specular>0.0 0.0 0.0 1.0</specular>
    <emissive>0.0 0.0 0.0 1.0</emissive>
  </material>
</visual>    

<sensor name="depth_camera" type="camera">
  <always_on>true</always_on>
  <visualize>false</visualize>
  <update_rate>5</update_rate>
  <camera name="camera">
    <horizontal_fov>1.02974</horizontal_fov>
    <image>
      <width>640</width>
      <height>480</height>
      <format>R8G8B8</format>
    </image>
    <clip>
      <near>0.02</near>
      <far>10</far>
    </clip>
    <noise>
      <type>gaussian</type>
      <!-- Noise is sampled independently per pixel on each frame.
           That pixel's noise value is added to each of its color
            channels, which at that point lie in the range [0,1]. -->
      <mean>0.0</mean>
      <stddev>0.007</stddev>
    </noise>
  </camera>
  <plugin name="depth_camera_controller" filename="libgazebo_ros_camera.so">
    <baseline>0.2</baseline>
    <alwaysOn>true</alwaysOn>

    <camera_name>depth_camera</camera_name>
    <frame_name>camera_depth_frame</frame_name>
    <hack_baseline>0</hack_baseline>
    <min_depth>0.001</min_depth>
  </plugin>

  </sensor>
  </link>