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You can find a comprehensive example of a robot equipped with the a simulated thermal camera here: tracker_default.urdf.xacro.

There, the flir_a35_camera macro is used.

You can install a complete working workspace with which allows spawning the robot in Gazebo as described in hector_tracker_install.

From this example you should be able to look up everything you're interested in. It looks like the error you're getting is related to your launch file setup, possibly in your spawn_robot.launch file.

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