underwater_camera_plugin_macro is not working

[arnabGudu]

<xacro:macro name="underwater_camera" params="namespace parent_link suffix *origin">
  <xacro:underwater_camera_plugin_macro
    namespace="${namespace}"
    suffix="${suffix}"
    parent_link="${parent_link}"
    topic="camera"
    mass="0.1"
    update_rate="30"
    hfov="1.5125"
    width="768"
    height="492"
    stddev="0.02">
    <inertia ixx="0.00001" ixy="0.0" ixz="0.0" iyy="0.00001" iyz="0.0" izz="0.00001" />
    <xacro:insert_block name="origin" />
  </xacro:underwater_camera_plugin_macro>
</xacro:macro>

<xacro:underwater_camera namespace="${namespace}" parent_link="base_link" suffix="">
  <origin xyz="0 0.05 0" rpy="0 0 0"/>
</xacro:underwater_camera>

This block of code only spawns the underwater_camera_plugin_macro link according to the code below

uuv_simulator/uuv_sensor_plugins/uuv_sensor_ros_plugins/urdf/camera_snippets.xacro

Lines 163 to 205 in bfb40cb

	<link name="${namespace}/camera${suffix}_link">
	<inertial>
	<xacro:insert_block name="inertia" />
	<mass value="${mass}" />
	<origin xyz="0 0 0" rpy="0 0 0" />
	</inertial>
	<visual>
	<geometry>
	<mesh filename="file://$(find uuv_sensor_ros_plugins)/meshes/oe14-372.dae" scale="1 1 1"/>
	</geometry>
	</visual>
	<xacro:no_collision/>
	</link>
	<joint name="${namespace}/camera${suffix}_joint" type="revolute">
	<xacro:insert_block name="origin" />
	<parent link="${parent_link}" />
	<child link="${namespace}/camera${suffix}_link" />
	<axis xyz="1 0 0"/>
	<limit upper="0" lower="0" effort="0" velocity="0" />
	</joint>
	<link name="${namespace}/camera${suffix}_link_optical">
	<xacro:box_inertial x="0.0001" y="0.0001" z="0.0001" mass="0.001">
	<origin xyz="0 0 0" rpy="0 0 0"/>
	</xacro:box_inertial>
	<collision>
	<!-- todo: gazebo needs a collision volume or it will ignore the pose of
	the joint that leads to this link (and assume it to be the identity) -->
	<geometry>
	<cylinder length="0.000001" radius="0.000001"/>
	</geometry>
	<origin xyz="0 0 0" rpy="0 ${0.5*pi} 0"/>
	</collision>
	</link>
	<joint name="${namespace}/camera${suffix}_optical_joint" type="revolute">
	<origin xyz="0 0 0" rpy="${-pi/2} 0 ${-pi/2}"/>
	<parent link="${namespace}/camera${suffix}_link"/>
	<child link="${namespace}/camera${suffix}_link_optical"/>
	<limit upper="0" lower="0" effort="0" velocity="0" />
	<axis xyz="1 0 0"/>
	</joint>

but fails to load the plugin part

uuv_simulator/uuv_sensor_plugins/uuv_sensor_ros_plugins/urdf/camera_snippets.xacro

Lines 207 to 248 in bfb40cb

	<gazebo reference="${namespace}/camera${suffix}_link">
	<sensor type="depth" name="camera${suffix}">
	<update_rate>${update_rate}</update_rate>
	<camera name="camera${suffix}">
	<horizontal_fov>${hfov}</horizontal_fov>
	<image>
	<width>${width}</width>
	<height>${height}</height>
	<format>R8G8B8</format>
	</image>
	<clip>
	<near>0.1</near>
	<far>3000</far>
	</clip>
	<noise>
	<type>gaussian</type>
	<mean>0.0</mean>
	<stddev>${stddev}</stddev>
	</noise>
	</camera>
	<plugin name="camera${suffix}_controller" filename="libuuv_gazebo_ros_camera_plugin.so">
	<updateRate>${update_rate}</updateRate>
	<cameraName>${namespace}/camera${suffix}</cameraName>
	<frameName>${namespace}/camera${suffix}_link</frameName>
	<attenuationR>0.01</attenuationR>
	<attenuationG>0.01</attenuationG>
	<attenuationB>0.003</attenuationB>
	<backgroundR>0</backgroundR>
	<backgroundG>0</backgroundG>
	<backgroundB>0</backgroundB>
	<!-- required for ros depth cam -->
	<imageTopicName>${topic}_image</imageTopicName>
	<pointCloudTopicName>${topic}_cloud</pointCloudTopicName>
	<depthImageTopicName>${topic}_depth</depthImageTopicName>
	<depthImageCameraInfoTopicName>${topic}_depth_info</depthImageCameraInfoTopicName>
	<pointCloudCutoff>10.0</pointCloudCutoff>
	</plugin>
	</sensor>
	</gazebo>

due to which there is no topics related to depth is visible when launched with a robot model.