How can I add a camera publishing to a ros topic from an sdf file

I am working on simulating a quadcopter using the [px4 sitl simulator](https://dev.px4.io/en/simulation/) and **I want to add a camera which publishes images** to a ros topic. The simulator contains a quadcopter model derived from the [rotorS model](https://github.com/ethz-asl/rotors_simulator). But unlike the original rotorS model, the quadcopter model is described **using an sdf file** rather than a urdf file. Although I understood how to add a ROS topic publishing camera using the URDF file, I did not understand how to do the same using sdf files. I am pasting the sdf file here, please tell me how I can add a camera which publishes to a ros topic by editing this sdf file. [C:\fakepath\iris.sdf](/upfiles/15185861723822489.sdf)