gazebo_models/gimbal_small_2d/model.sdf

<?xml version='1.0'?>
<sdf version='1.6'>
  <model name='gimbal_small_2d'>
    <pose>0 0 0.18 0 0 0</pose>

    <link name='base_link'>
       <inertial>
        <mass>0.2</mass>
        <inertia>
          <ixx>0.0001</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>0.0001</iyy>
          <iyz>0</iyz>
          <izz>0.0001</izz>
        </inertia>
      </inertial>

      <visual name='base_main_viz'>
        <geometry>
         <mesh>
           <scale>0.001 0.001 0.001</scale>
           <uri>model://gimbal_small_2d/meshes/base_main.dae</uri>
         </mesh>
        </geometry>
        <material>
          <script>
            <uri>file://media/materials/scripts/gazebo.material</uri>
            <name>Gazebo/FlatBlack</name>
          </script>
        </material>
      </visual>

     <visual name='base_arm_viz'>
        <geometry>
         <mesh>
           <scale>0.001 0.001 0.001</scale>
           <uri>model://gimbal_small_2d/meshes/base_arm.dae</uri>
         </mesh>
        </geometry>
        <material>
          <script>
            <uri>file://media/materials/scripts/gazebo.material</uri>
            <name>Gazebo/FlatBlack</name>
          </script>
        </material>
      </visual>

      <collision name='base_col'>
        <pose>0.01 0.075 -0.025 0 0 0</pose>
        <geometry>
          <box>
            <size>0.1 0.05 0.15</size>
          </box>
        </geometry>
        <surface>
          <friction>
            <ode>
              <mu>1</mu>
              <mu2>1</mu2>
              <fdir1>0 0 0</fdir1>
              <slip1>0</slip1>
              <slip2>0</slip2>
            </ode>
          </friction>
        </surface>
      </collision>
    </link>

    <link name='tilt_link'>
       <inertial>
        <mass>0.01</mass>
        <inertia>
          <ixx>0.00001</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>0.00001</iyy>
          <iyz>0</iyz>
          <izz>0.00001</izz>
        </inertia>
      </inertial>
     <visual name='tilt_viz'>
        <pose>0 0 -0.005 0 0 0</pose>
        <geometry>
         <mesh>
           <scale>0.001 0.001 0.001</scale>
           <uri>model://gimbal_small_2d/meshes/tilt.dae</uri>
         </mesh>
        </geometry>
        <material>
          <script>
            <uri>file://media/materials/scripts/gazebo.material</uri>
            <name>Gazebo/Grey</name>
          </script>
        </material>
      </visual>

      <visual name='camera_viz'>
        <pose>0 0 0.02 0 0 0</pose>
        <geometry>
          <cylinder>
            <radius>0.025</radius>
            <length>0.050</length>
          </cylinder>
        </geometry>

         <material>
          <script>
            <uri>file://media/materials/scripts/gazebo.material</uri>
            <name>Gazebo/Grey</name>
          </script>
        </material>
     </visual>

      <sensor name="camera" type="camera">
        <pose>0 0 0 -1.57 -1.57 0</pose>
        <camera>
          <horizontal_fov>2.0</horizontal_fov>
          <image>
            <width>640</width>
            <height>480</height>
          </image>
          <clip>
            <near>0.05</near>
            <far>15000</far>
          </clip>
        </camera>
        <always_on>1</always_on>
        <update_rate>10</update_rate>
        <visualize>1</visualize>
      </sensor>

    </link>

    <joint name='tilt_joint' type='revolute'>
       <parent>base_link</parent>
       <child>tilt_link</child>

      <physics>
        <ode>
          <implicit_spring_damper>1</implicit_spring_damper>
        </ode>
      </physics>

      <axis>
        <xyz>1 0 0</xyz>
        <dynamics>
          <damping>0.5</damping>
        </dynamics>
        <use_parent_model_frame>1</use_parent_model_frame>
        <limit>
          <lower>-0.1</lower>
          <upper>3.14159265</upper>
          <effort>10</effort>
          <velocity>-1</velocity>
        </limit>
      </axis>
      <pose>0 0 0.02 0 0 0</pose>
    </joint>

    <plugin name="gimbal_small_2d" filename="libGimbalSmall2dPlugin.so">
      <joint>tilt_joint</joint>
    </plugin>
  </model>
</sdf>