How to use libgazebo_ros_camera.so in gazebo (urdf)

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There is an extensive tutorial article on the Gazebo wiki about a lot of different sensors plugins, including libgazebo_ros_camera.so, you might want to give a look there. Sorry for the broken link but there seems to be a rule about needing 'karma' to post links. Didn't help enough old ladies crossing the strees lately.

gazebosim.org/wiki/Tutorials/1.9/ROS_Motor_and_Sensor_Plugins

Here is the use for the camera plugin proposed there

 <!-- camera -->
  <gazebo reference="camera_link">
    <sensor type="camera" name="camera1">
      <update_rate>30.0</update_rate>
      <camera name="head">
        <horizontal_fov>1.3962634</horizontal_fov>
        <image>
          <width>800</width>
          <height>800</height>
          <format>R8G8B8</format>
        </image>
        <clip>
          <near>0.02</near>
          <far>300</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="camera_controller" filename="libgazebo_ros_camera.so">
        <alwaysOn>true</alwaysOn>
        <updateRate>0.0</updateRate>
        <cameraName>rrbot/camera1</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>

I am using libDepthCameraPlugin.so and libgazebo_ros_openni_kinect.so and I am able to publish images from this camera. My .sdf looks like this:

< sensor type="depth" name="camera1">

   <always_on>1</always_on>
   <visualize>true</visualize>
    <update_rate>30.0</update_rate>
    <topic>camera</topic>
    <camera name="depth_cam">
         <horizontal_fov>1.3962634</horizontal_fov>
        <image>
            <width>800</width>
             <height>800</height>
            <format>R8G8B8</format>
         </image>
        <clip>
            <near>0.02</near>
            <far>300</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>
        <save enabled=true>  <!-- Nose que es esto -->
            <path>Gazebo_camera</path>
        </save>
  </camera>
  <plugin name="camera_controller" filename="libDepthCameraPlugin.so">
    <CxPrime>0</CxPrime>
    <updateRate>10.0</updateRate>
    <cameraName>depth_cam1</cameraName>
    <frameName>/base_link</frameName>
    <hackBaseline>0.07</hackBaseline>
    <distortionK1>1.0</distortionK1>
    <distortionK2>1.0</distortionK2>
    <distortionK3>1.0</distortionK3>
    <distortionT1>1.0</distortionT1>
    <distortionT2>1.0</distortionT2>
  </plugin>
 <plugin name="kinect" filename="libgazebo_ros_openni_kinect.so">
    <CxPrime>0</CxPrime>
    <updateRate>10.0</updateRate>
    <imageTopicName>image_raw</imageTopicName>
    <pointCloudTopicName>points</pointCloudTopicName>
    <depthImageTopicName>image_depth</depthImageTopicName>
    <depthImageCameraInfoTopicName>depth_camera_info</depthImageCameraInfoTopicName>
    <pointCloudCutoff>0.001</pointCloudCutoff>
    <cameraName>kinect</cameraName>
    <frameName>/base_link</frameName>
    <distortionK1>0.00000001</distortionK1>
    <distortionK2>0.00000001</distortionK2>
    <distortionK3>0.00000001</distortionK3>
    <distortionT1>0.00000001</distortionT1>
    <distortionT2>0.00000001</distortionT2>
  </plugin>
</sensor>
</link>

Hope this helps! But I have a problem with the frames time stamp and I can not do much with this camera image right know, I am looking for the solution: http://answers.ros.org/question/66800/tf-transformation-for-simulated-kinect-gazebo/