diff --git a/src/humantest/model/README.txt b/src/humantest/model/README.txt
index 4624325439..b3011801a3 100644
--- a/src/humantest/model/README.txt
+++ b/src/humantest/model/README.txt
@@ -1,3 +1,3 @@
-仿真文件可直接启动demo03_env.launch
+仿真文件可直接启动gazebo.launch
 
-运行指令：roslaunch 功能包名 demo03_env.launch
+运行指令：roslaunch 功能包名 gazebo.launch
diff --git a/src/humantest/model/camera.xacro b/src/humantest/model/camera.xacro
new file mode 100644
index 0000000000..a1870eaad7
--- /dev/null
+++ b/src/humantest/model/camera.xacro
@@ -0,0 +1,42 @@
+<robot name="my_sensors" xmlns:xacro="http://wiki.ros.org/xacro">
+  <!-- 被引用的link -->
+  <gazebo reference="camera">
+    <!-- 类型设置为 camara -->
+    <sensor type="camera" name="camera_node">
+      <update_rate>30.0</update_rate> <!-- 更新频率 -->
+      <!-- 摄像头基本信息设置 -->
+      <camera name="head">
+        <horizontal_fov>1.3962634</horizontal_fov>
+        <image>
+          <width>1280</width>
+          <height>720</height>
+          <format>R8G8B8</format>
+        </image>
+        <clip>
+          <near>0.02</near>
+          <far>300</far>
+        </clip>
+        <noise>
+          <type>gaussian</type>
+          <mean>0.0</mean>
+          <stddev>0.007</stddev>
+        </noise>
+      </camera>
+      <!-- 核心插件 -->
+      <plugin name="gazebo_camera" filename="libgazebo_ros_camera.so">
+        <alwaysOn>true</alwaysOn>
+        <updateRate>0.0</updateRate>
+        <cameraName>/camera</cameraName>
+        <imageTopicName>image_raw</imageTopicName>
+        <cameraInfoTopicName>camera_info</cameraInfoTopicName>
+        <frameName>camera</frameName>
+        <hackBaseline>0.07</hackBaseline>
+        <distortionK1>0.0</distortionK1>
+        <distortionK2>0.0</distortionK2>
+        <distortionK3>0.0</distortionK3>
+        <distortionT1>0.0</distortionT1>
+        <distortionT2>0.0</distortionT2>
+      </plugin>
+    </sensor>
+  </gazebo>
+</robot>
diff --git a/src/humantest/model/demo03_env.launch b/src/humantest/model/gazebo.launch
similarity index 100%
rename from src/humantest/model/demo03_env.launch
rename to src/humantest/model/gazebo.launch
diff --git a/src/humantest/model/robot.xacro b/src/humantest/model/robot.xacro
index f9504859ce..770d17a68a 100644
--- a/src/humantest/model/robot.xacro
+++ b/src/humantest/model/robot.xacro
@@ -5,4 +5,5 @@
    <xacro:include filename="demo07_laser.xacro" />
    <xacro:include filename="gazebo/move.xacro" />
    <xacro:include filename="gazebo/laser.xacro" />
+   <xacro:include filename="gazebo/camera.xacro" />
 </robot>
\ No newline at end of file
diff --git a/src/humantest/model/rviz.launch b/src/humantest/model/rviz.launch
new file mode 100644
index 0000000000..fe356a28c2
--- /dev/null
+++ b/src/humantest/model/rviz.launch
@@ -0,0 +1,9 @@
+<launch>
+    <!-- 启动 rviz -->
+    <node pkg="rviz" type="rviz" name="rviz" args="-d $(find urdf01_rviz)/config/show_mycar.rviz" /> />
+
+    <!-- 关节以及机器人状态发布节点 -->
+    <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />
+    <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
+
+</launch>