camera_info parameters

[adamanov]

Hello, I wondered if I can set somewhere camera info parameters? through URDF or directly inside plugging? Like with kinect pluging PS: I know I can edit plugin directly inside cameraInfo function.

        <plugin name="kinect_controller" filename="libgazebo_ros_openni_kinect.so">
          <distortionK1>0.00000001</distortionK1>
          <distortionK2>0.00000001</distortionK2>
          <distortionK3>0.00000001</distortionK3>
          <distortionT1>0.00000001</distortionT1>
          <distortionT2>0.00000001</distortionT2>
          <CxPrime>0</CxPrime>
          <Cx>0</Cx>
          <Cy>0</Cy>
          <focalLength>0</focalLength>
          <hackBaseline>0</hackBaseline>

I am doing an Apriltag detection inside the gazebo based on the realsense 435i model, however, the tag pose is detected with an error which I assume comes from camera parameters.

Best wishes