Merge models

PX4 Autopilot
1

I’m working in a autonomous drone and I’m using the PX4-Autopilot that have one model with a front camera and other with a down camera. So I want to merge both models, but don’t work , someone knows how make it work or if there is a model that have both cameras ?

<?xml version="1.0" encoding="UTF-8"?> false 
<include>
  <uri>model://x500</uri>
</include>

<!-- Camara frontal -->
<link name="camera_front_link">
  <pose>0.12 0 0.05 0 0 0</pose> <inertial>
    <mass>0.01</mass>
    <inertia>
      <ixx>0.0001</ixx> <ixy>0</ixy> <ixz>0</ixz>
      <iyy>0.0001</iyy> <iyz>0</iyz> <izz>0.0001</izz>
    </inertia>
  </inertial>
  
  <visual name="visual">
    <geometry><box><size>0.02 0.02 0.02</size></box></geometry>
    <material><diffuse>1 0 0 1</diffuse></material> </visual>

  <sensor name="camera_front" type="camera">
    <camera>
      <horizontal_fov>1.047</horizontal_fov>
      <image>
        <width>640</width> <height>480</height>
      </image>
      <clip><near>0.1</near><far>100</far></clip>
    </camera>
    <always_on>1</always_on>
    <update_rate>30</update_rate>
    <visualize>true</visualize>
    <topic>camera_front</topic> </sensor>
</link>

<joint name="camera_front_joint" type="fixed">
  <parent>base_link</parent>
  <child>camera_front_link</child>
</joint>

<!-- Camara inferior -->
<link name="camera_down_link">
  <pose>0 0 -0.05 0 1.5708 0</pose> <inertial>
    <mass>0.01</mass>
    <inertia>
      <ixx>0.0001</ixx> <ixy>0</ixy> <ixz>0</ixz>
      <iyy>0.0001</iyy> <iyz>0</iyz> <izz>0.0001</izz>
    </inertia>
  </inertial>

  <visual name="visual">
    <geometry><box><size>0.02 0.02 0.02</size></box></geometry>
    <material><diffuse>0 0 1 1</diffuse></material> </visual>

  <sensor name="camera_down" type="camera">
    <camera>
      <horizontal_fov>1.047</horizontal_fov>
      <image>
        <width>640</width> <height>480</height>
      </image>
      <clip><near>0.1</near><far>100</far></clip>
    </camera>
    <always_on>1</always_on>
    <update_rate>30</update_rate>
    <visualize>true</visualize>
    <topic>camera_down</topic> </sensor>
</link>

<joint name="camera_down_joint" type="fixed">
  <parent>base_link</parent>
  <child>camera_down_link</child>
</joint>
2

Probably easiest to just ask Claude Code (or a similar tool) to try it.