My camera link is attached to my baselink in the sdf

 <joint name="front_cam_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.2 0 0"/>
    <parent link="base_link"/>
    <child link="front_cam_link"/>
  </joint>

But when looking at RVIZ's TF tree they both are in the same position, the camera is not translated in the x direction at all