diff --git a/realsense2_camera/launch/rs_camera.launch b/realsense2_camera/launch/rs_camera.launch
index 75b0026bef..ed296f5229 100644
--- a/realsense2_camera/launch/rs_camera.launch
+++ b/realsense2_camera/launch/rs_camera.launch
@@ -47,7 +47,7 @@
   <arg name="pointcloud_texture_stream" default="RS2_STREAM_COLOR"/>
   <arg name="pointcloud_texture_index"  default="0"/>
   <arg name="allow_no_texture_points"   default="false"/>
-  <arg name="ordered_pc"                default="false"/>
+  <arg name="ordered_pc"                default="true"/>
 
   <arg name="enable_sync"               default="false"/>
   <arg name="align_depth"               default="false"/>
diff --git a/realsense2_description/launch/gazebo.launch b/realsense2_description/launch/gazebo.launch
new file mode 100644
index 0000000000..36ab7ffce9
--- /dev/null
+++ b/realsense2_description/launch/gazebo.launch
@@ -0,0 +1,28 @@
+<launch>
+
+  <!-- these are the arguments you can pass this launch file, for example paused:=true -->
+  <arg name="start_gazebo" default="true"/>
+  <arg name="paused" default="false"/>
+  <arg name="use_sim_time" default="true"/>
+  <arg name="gui" default="true"/>
+  <arg name="headless" default="false"/>
+  <arg name="debug" default="false"/>
+  <arg name="model" default="$(find realsense2_description)/urdf/test_d435_camera.urdf.xacro"/>
+
+  <!-- robot description to load in rviz or gazebo -->
+  <param name="robot_description" command="$(find xacro)/xacro $(arg model)" />
+  
+  <!-- We resume the logic in empty_world.launch, changing only the name of the world to be launched -->
+  <include if="$(arg start_gazebo)" file="$(find gazebo_ros)/launch/empty_world.launch">
+    <arg name="debug" value="$(arg debug)" />
+    <arg name="gui" value="$(arg gui)" />
+    <arg name="paused" value="$(arg paused)"/>
+    <arg name="use_sim_time" value="$(arg use_sim_time)"/>
+    <arg name="headless" value="$(arg headless)"/>
+  </include>
+
+  <!-- push robot_description to factory and spawn robot in gazebo -->
+  <node name="urdf_spawner" pkg="gazebo_ros" type="spawn_model"
+        args="-z 0.0 -x 0.0 -y 0.0 -unpause -urdf -model robot -param robot_description" respawn="false" output="screen" />
+</launch>
+
diff --git a/realsense2_description/launch/view_d435_model_rviz_gazebo.launch b/realsense2_description/launch/view_d435_model_rviz_gazebo.launch
new file mode 100644
index 0000000000..f79ff41637
--- /dev/null
+++ b/realsense2_description/launch/view_d435_model_rviz_gazebo.launch
@@ -0,0 +1,21 @@
+<launch>
+    <!-- arguments for the urdf xacro file, rviz visualization and namespace -->
+    <arg name="start_gazebo" default="true"/>
+    <arg name="model" default="$(find realsense2_description)/urdf/test_d435_camera.urdf.xacro"/>
+    <param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model) use_nominal_extrinsics:=true add_plug:=true" />
+    <node pkg="robot_state_publisher" type="robot_state_publisher"  name="robot_state_publisher">
+      <param name="publish_frequency" type="double" value="30.0" />
+    </node>
+
+    <!-- this will include the launch file for gazebo given the model -->  
+    <include file="$(find realsense2_description)/launch/gazebo.launch">
+      <arg name="model" value="$(arg model)" />
+      <!-- We wont need to start gazebo if kortex does it for us -->
+      <arg name="start_gazebo" value="$(arg start_gazebo)" />
+    </include>
+
+    <arg name="gui" default="True" />
+    <param name="use_gui" value="$(arg gui)" />
+    <!-- <node name="rviz" pkg="rviz" type="rviz" args="-d $(find realsense2_description)/rviz/urdf.rviz" required="true" /> -->
+</launch>
+
diff --git a/realsense2_description/rviz/urdf.rviz b/realsense2_description/rviz/urdf.rviz
index 18372e149d..d5369f5ccc 100644
--- a/realsense2_description/rviz/urdf.rviz
+++ b/realsense2_description/rviz/urdf.rviz
@@ -130,7 +130,7 @@ Visualization Manager:
               camera_infra2_frame:
                 camera_infra2_optical_frame:
                   {}
-      Update Interval: 0
+      Update Interval: 5
       Value: true
     - Alpha: 1
       Autocompute Intensity Bounds: true
diff --git a/realsense2_description/urdf/_d435.gazebo.xacro b/realsense2_description/urdf/_d435.gazebo.xacro
new file mode 100644
index 0000000000..d10f1b30da
--- /dev/null
+++ b/realsense2_description/urdf/_d435.gazebo.xacro
@@ -0,0 +1,147 @@
+<?xml version="1.0"?>
+
+<!--
+License: Apache 2.0. See LICENSE file in root directory.
+Copyright(c) 2017 PAL Robotics, S.L. All Rights Reserved
+
+This is the Gazebo URDF model for the Intel RealSense D435 camera
+-->
+  
+<robot xmlns:xacro="http://ros.org/wiki/xacro">
+  
+  <xacro:macro name="gazebo_d435" params="camera_name reference_link topics_ns depth_optical_frame color_optical_frame infrared1_optical_frame infrared2_optical_frame publish_pointcloud:=true" >
+
+    <!-- Load parameters to model's main link-->
+    <xacro:property name="deg_to_rad" value="0.01745329251994329577" />
+    <gazebo reference="${reference_link}">
+      <self_collide>0</self_collide>
+      <enable_wind>0</enable_wind>
+      <kinematic>0</kinematic>
+      <gravity>1</gravity>
+      <!--<mu>1</mu>-->
+      <mu2>1</mu2>
+      <fdir1>0 0 0</fdir1>
+      <!--<slip1>0</slip1>
+      <slip2>0</slip2>-->
+      <kp>1e+13</kp>
+      <kd>1</kd>
+      <!--<max_vel>0.01</max_vel>
+      <min_depth>0</min_depth>-->
+      <sensor name="${camera_name}color" type="camera">
+        <camera name="${camera_name}">
+          <horizontal_fov>${69.4*deg_to_rad}</horizontal_fov>
+          <image>
+            <width>640</width>
+            <height>480</height>
+            <format>RGB_INT8</format>
+          </image>
+          <clip>
+            <near>0.1</near>
+            <far>100</far>
+          </clip>
+          <noise>
+            <type>gaussian</type>
+            <mean>0.0</mean>
+            <stddev>0.007</stddev>
+          </noise>
+        </camera>
+        <always_on>1</always_on>
+        <update_rate>30</update_rate>
+        <visualize>1</visualize>
+      </sensor>
+      <sensor name="${camera_name}ired1" type="camera">
+        <camera name="${camera_name}">
+          <horizontal_fov>${85.2*deg_to_rad}</horizontal_fov>
+          <image>
+            <width>1280</width>
+            <height>720</height>
+            <format>L_INT8</format>
+          </image>
+          <clip>
+            <near>0.1</near>
+            <far>100</far>
+          </clip>
+          <noise>
+            <type>gaussian</type>
+            <mean>0.0</mean>
+            <stddev>0.05</stddev>
+          </noise>
+        </camera>
+        <always_on>1</always_on>
+        <update_rate>90</update_rate>
+        <visualize>0</visualize>
+      </sensor>
+      <sensor name="${camera_name}ired2" type="camera">
+        <camera name="${camera_name}">
+          <horizontal_fov>${85.2*deg_to_rad}</horizontal_fov>
+          <image>
+            <width>1280</width>
+            <height>720</height>
+            <format>L_INT8</format>
+          </image>
+          <clip>
+            <near>0.1</near>
+            <far>100</far>
+          </clip>
+          <noise>
+            <type>gaussian</type>
+            <mean>0.0</mean>
+            <stddev>0.05</stddev>
+          </noise>
+        </camera>
+        <always_on>1</always_on>
+        <update_rate>90</update_rate>
+        <visualize>0</visualize>
+      </sensor>
+      <sensor name="${camera_name}depth" type="depth">
+        <camera name="${camera_name}">
+          <horizontal_fov>${85.2*deg_to_rad}</horizontal_fov>
+          <image>
+            <width>1280</width>
+            <height>720</height>
+          </image>
+          <clip>
+            <near>0.1</near>
+            <far>100</far>
+          </clip>
+          <noise>
+            <type>gaussian</type>
+            <mean>0.0</mean>
+            <stddev>0.100</stddev>
+          </noise>
+        </camera>
+        <always_on>1</always_on>
+        <update_rate>90</update_rate>
+        <visualize>0</visualize>
+      </sensor>
+    </gazebo>
+
+    <gazebo>
+      <plugin name="${topics_ns}" filename="librealsense_gazebo_plugin.so">
+        <prefix>${camera_name}</prefix>
+        <depthUpdateRate>30.0</depthUpdateRate>
+        <colorUpdateRate>30.0</colorUpdateRate>
+        <infraredUpdateRate>30.0</infraredUpdateRate>
+        <depthTopicName>depth/image_raw</depthTopicName>
+        <depthCameraInfoTopicName>depth/camera_info</depthCameraInfoTopicName>
+        <colorTopicName>color/image_raw</colorTopicName>
+        <colorCameraInfoTopicName>color/camera_info</colorCameraInfoTopicName>
+        <infrared1TopicName>infra1/image_raw</infrared1TopicName>
+        <infrared1CameraInfoTopicName>infra1/camera_info</infrared1CameraInfoTopicName>
+        <infrared2TopicName>infra2/image_raw</infrared2TopicName>
+        <infrared2CameraInfoTopicName>infra2/camera_info</infrared2CameraInfoTopicName>
+        <colorOpticalframeName>${color_optical_frame}</colorOpticalframeName>
+        <depthOpticalframeName>${depth_optical_frame}</depthOpticalframeName>
+        <infrared1OpticalframeName>${infrared1_optical_frame}</infrared1OpticalframeName>
+        <infrared2OpticalframeName>${infrared2_optical_frame}</infrared2OpticalframeName>
+        <rangeMinDepth>0.2</rangeMinDepth>
+        <rangeMaxDepth>10.0</rangeMaxDepth>
+        <pointCloud>${publish_pointcloud}</pointCloud>
+        <pointCloudTopicName>depth/color/points</pointCloudTopicName>
+        <pointCloudCutoff>0.25</pointCloudCutoff>
+        <pointCloudCutoffMax>9.0</pointCloudCutoffMax>
+      </plugin>
+    </gazebo>
+
+  </xacro:macro>
+</robot>
diff --git a/realsense2_description/urdf/_d435.urdf.xacro b/realsense2_description/urdf/_d435.urdf.xacro
index 5593cbc334..f53497ef03 100644
--- a/realsense2_description/urdf/_d435.urdf.xacro
+++ b/realsense2_description/urdf/_d435.urdf.xacro
@@ -4,44 +4,42 @@
 License: Apache 2.0. See LICENSE file in root directory.
 Copyright(c) 2017 Intel Corporation. All Rights Reserved
 
-This is the URDF model for the Intel RealSense 430 camera, in its
+This is the URDF model for the Intel RealSense 430 camera, in it's
 aluminum peripherial evaluation case.
 -->
 
 <robot name="sensor_d435" xmlns:xacro="http://ros.org/wiki/xacro">
-  <!-- Includes -->
-  <xacro:include filename="$(find realsense2_description)/urdf/_materials.urdf.xacro" />
-  <xacro:include filename="$(find realsense2_description)/urdf/_usb_plug.urdf.xacro" />
+  <!--File includes-->
+  <xacro:include filename="$(find realsense2_description)/urdf/_d435.gazebo.xacro"/>
 
-  <xacro:macro name="sensor_d435" params="parent *origin name:=camera use_nominal_extrinsics:=false add_plug:=false use_mesh:=true">
+  <xacro:macro name="sensor_d435" params="name:=camera topics_ns:=camera parent *origin publish_pointcloud:=true">
     <xacro:property name="M_PI" value="3.1415926535897931" />
-
+  
     <!-- The following values are approximate, and the camera node
      publishing TF values with actual calibrated camera extrinsic values -->
-    <xacro:property name="d435_cam_depth_to_infra1_offset" value="0.0"/>
-    <xacro:property name="d435_cam_depth_to_infra2_offset" value="-0.050"/>
+    <xacro:property name="d435_cam_depth_to_left_ir_offset" value="0.0"/>
+    <xacro:property name="d435_cam_depth_to_right_ir_offset" value="-0.050"/>
     <xacro:property name="d435_cam_depth_to_color_offset" value="0.015"/>
-
+  
     <!-- The following values model the aluminum peripherial case for the
-  	D435 camera, with the camera joint represented by the actual
-  	peripherial camera tripod mount -->
+    D435 camera, with the camera joint represented by the actual 
+    peripherial camera tripod mount -->
     <xacro:property name="d435_cam_width" value="0.090"/>
     <xacro:property name="d435_cam_height" value="0.025"/>
     <xacro:property name="d435_cam_depth" value="0.02505"/>
     <xacro:property name="d435_cam_mount_from_center_offset" value="0.0149"/>
-    <!-- glass cover is 0.1 mm inwards from front aluminium plate -->
-    <xacro:property name="d435_glass_to_front" value="0.1e-3"/>
-    <!-- see datasheet Revision 007, Fig. 4-4 page 65 -->
-    <xacro:property name="d435_zero_depth_to_glass" value="4.2e-3"/>
-    <!-- convenience precomputation to avoid clutter-->
-    <xacro:property name="d435_mesh_x_offset" value="${d435_cam_mount_from_center_offset-d435_glass_to_front-d435_zero_depth_to_glass}"/>
-
+  
     <!-- The following offset is relative the the physical D435 camera peripherial
-  	camera tripod mount -->
+    camera tripod mount -->
     <xacro:property name="d435_cam_depth_px" value="${d435_cam_mount_from_center_offset}"/>
     <xacro:property name="d435_cam_depth_py" value="0.0175"/>
     <xacro:property name="d435_cam_depth_pz" value="${d435_cam_height/2}"/>
 
+    <material name="${name}_aluminum">
+    <color rgba="0.5 0.5 0.5 1"/>
+    </material>
+
+
     <!-- camera body, with origin at bottom screw mount -->
     <joint name="${name}_joint" type="fixed">
       <xacro:insert_block name="origin" />
@@ -51,109 +49,98 @@ aluminum peripherial evaluation case.
     <link name="${name}_bottom_screw_frame"/>
 
     <joint name="${name}_link_joint" type="fixed">
-      <origin xyz="${d435_mesh_x_offset} ${d435_cam_depth_py} ${d435_cam_depth_pz}" rpy="0 0 0"/>
+      <origin xyz="0 ${d435_cam_depth_py} ${d435_cam_depth_pz}" rpy="0 0 0"/>
       <parent link="${name}_bottom_screw_frame"/>
       <child link="${name}_link" />
     </joint>
 
     <link name="${name}_link">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
       <visual>
-        <xacro:if value="${use_mesh}">
-          <!-- the mesh origin is at front plate in between the two infrared camera axes -->
-          <origin xyz="${d435_zero_depth_to_glass + d435_glass_to_front} ${-d435_cam_depth_py} 0" rpy="${M_PI/2} 0 ${M_PI/2}"/>
-          <geometry>
-            <mesh filename="package://realsense2_description/meshes/d435.dae" />
-          </geometry>
-        </xacro:if>
-        <xacro:unless value="${use_mesh}">
-          <origin xyz="0 ${-d435_cam_depth_py} 0" rpy="0 0 0"/>
-          <geometry>
-            <box size="${d435_cam_depth} ${d435_cam_width} ${d435_cam_height}"/>
-          </geometry>
-          <material name="aluminum"/>
-        </xacro:unless>     
+      <origin xyz="${d435_cam_mount_from_center_offset} ${-d435_cam_depth_py} 0" rpy="${M_PI/2} 0 ${M_PI/2}"/>
+        <geometry>
+          <!-- <box size="${d435_cam_width} ${d435_cam_height} ${d435_cam_depth}"/> -->
+          <mesh filename="package://realsense2_description/meshes/d435.dae" />
+          <!--<mesh filename="package://realsense2_description/meshes/d435/d435.dae" />-->
+        </geometry>
+        <material name="${name}_aluminum"/>
       </visual>
       <collision>
         <origin xyz="0 ${-d435_cam_depth_py} 0" rpy="0 0 0"/>
         <geometry>
-          <box size="${d435_cam_depth} ${d435_cam_width} ${d435_cam_height}"/>
+        <box size="${d435_cam_depth} ${d435_cam_width} ${d435_cam_height}"/>
         </geometry>
       </collision>
       <inertial>
         <!-- The following are not reliable values, and should not be used for modeling -->
-        <mass value="0.072" />
+        <mass value="0.564" />
         <origin xyz="0 0 0" />
         <inertia ixx="0.003881243" ixy="0.0" ixz="0.0" iyy="0.000498940" iyz="0.0" izz="0.003879257" />
       </inertial>
     </link>
+   
+    <!-- camera depth joints and links -->
+    <joint name="${name}_depth_joint" type="fixed">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <parent link="${name}_link"/>
+      <child link="${name}_depth_frame" />
+    </joint>
+    <link name="${name}_depth_frame"/>
+
+    <joint name="${name}_depth_optical_joint" type="fixed">
+      <origin xyz="0 0 0" rpy="${-M_PI/2} 0 ${-M_PI/2}" />
+      <parent link="${name}_depth_frame" />
+      <child link="${name}_depth_optical_frame" />
+    </joint>
+    <link name="${name}_depth_optical_frame"/>
+      
+    <!-- camera left IR joints and links -->
+    <joint name="${name}_left_ir_joint" type="fixed">
+      <origin xyz="0 ${d435_cam_depth_to_left_ir_offset} 0" rpy="0 0 0" />
+      <parent link="${name}_depth_frame" />
+      <child link="${name}_left_ir_frame" />
+    </joint>
+    <link name="${name}_left_ir_frame"/>
+
+    <joint name="${name}_left_ir_optical_joint" type="fixed">
+      <origin xyz="0 0 0" rpy="${-M_PI/2} 0 ${-M_PI/2}" />
+      <parent link="${name}_left_ir_frame" />
+      <child link="${name}_left_ir_optical_frame" />
+    </joint>
+    <link name="${name}_left_ir_optical_frame"/>
+
+    <!-- camera right IR joints and links -->
+    <joint name="${name}_right_ir_joint" type="fixed">
+      <origin xyz="0 ${d435_cam_depth_to_right_ir_offset} 0" rpy="0 0 0" />
+      <parent link="${name}_depth_frame" />
+      <child link="${name}_right_ir_frame" />
+    </joint>
+    <link name="${name}_right_ir_frame"/>
+
+    <joint name="${name}_right_ir_optical_joint" type="fixed">
+      <origin xyz="0 0 0" rpy="${-M_PI/2} 0 ${-M_PI/2}" />
+      <parent link="${name}_right_ir_frame" />
+      <child link="${name}_right_ir_optical_frame" />
+    </joint>
+    <link name="${name}_right_ir_optical_frame"/>
+
+    <!-- camera color joints and links -->
+    <joint name="${name}_color_joint" type="fixed">
+      <origin xyz="0 ${d435_cam_depth_to_color_offset} 0" rpy="0 0 0" />
+      <parent link="${name}_depth_frame" />
+      <child link="${name}_color_frame" />
+    </joint>
+    <link name="${name}_color_frame"/>
+
+    <joint name="${name}_color_optical_joint" type="fixed">
+      <origin xyz="0 0 0" rpy="${-M_PI/2} 0 ${-M_PI/2}" />
+      <parent link="${name}_color_frame" />
+      <child link="${name}_color_optical_frame" />
+    </joint>
+    <link name="${name}_color_optical_frame"/>
+
+    <!-- Realsense Gazebo Plugin -->
+    <xacro:gazebo_d435 camera_name="${name}" reference_link="${name}_link" topics_ns="${topics_ns}" depth_optical_frame="${name}_depth_optical_frame" color_optical_frame="${name}_color_optical_frame" infrared1_optical_frame="${name}_left_ir_optical_frame" infrared2_optical_frame="${name}_right_ir_optical_frame" publish_pointcloud="${publish_pointcloud}"/>
 
-    <!-- Use the nominal extrinsics between camera frames if the calibrated extrinsics aren't being published. e.g. running the device in simulation  -->
-    <xacro:if value="${use_nominal_extrinsics}">
-      <!-- camera depth joints and links -->
-      <joint name="${name}_depth_joint" type="fixed">
-        <origin xyz="0 0 0" rpy="0 0 0"/>
-        <parent link="${name}_link"/>
-        <child link="${name}_depth_frame" />
-      </joint>
-      <link name="${name}_depth_frame"/>
-
-      <joint name="${name}_depth_optical_joint" type="fixed">
-        <origin xyz="0 0 0" rpy="${-M_PI/2} 0 ${-M_PI/2}" />
-        <parent link="${name}_depth_frame" />
-        <child link="${name}_depth_optical_frame" />
-      </joint>
-      <link name="${name}_depth_optical_frame"/>
-
-      <!-- camera left IR joints and links -->
-      <joint name="${name}_infra1_joint" type="fixed">
-        <origin xyz="0 ${d435_cam_depth_to_infra1_offset} 0" rpy="0 0 0" />
-        <parent link="${name}_link" />
-        <child link="${name}_infra1_frame" />
-      </joint>
-      <link name="${name}_infra1_frame"/>
-
-      <joint name="${name}_infra1_optical_joint" type="fixed">
-        <origin xyz="0 0 0" rpy="${-M_PI/2} 0 ${-M_PI/2}" />
-        <parent link="${name}_infra1_frame" />
-        <child link="${name}_infra1_optical_frame" />
-      </joint>
-      <link name="${name}_infra1_optical_frame"/>
-
-      <!-- camera right IR joints and links -->
-      <joint name="${name}_infra2_joint" type="fixed">
-        <origin xyz="0 ${d435_cam_depth_to_infra2_offset} 0" rpy="0 0 0" />
-        <parent link="${name}_link" />
-        <child link="${name}_infra2_frame" />
-      </joint>
-      <link name="${name}_infra2_frame"/>
-
-      <joint name="${name}_infra2_optical_joint" type="fixed">
-        <origin xyz="0 0 0" rpy="${-M_PI/2} 0 ${-M_PI/2}" />
-        <parent link="${name}_infra2_frame" />
-        <child link="${name}_infra2_optical_frame" />
-      </joint>
-      <link name="${name}_infra2_optical_frame"/>
-
-      <!-- camera color joints and links -->
-      <joint name="${name}_color_joint" type="fixed">
-        <origin xyz="0 ${d435_cam_depth_to_color_offset} 0" rpy="0 0 0" />
-        <parent link="${name}_link" />
-        <child link="${name}_color_frame" />
-      </joint>
-      <link name="${name}_color_frame"/>
-
-      <joint name="${name}_color_optical_joint" type="fixed">
-        <origin xyz="0 0 0" rpy="${-M_PI/2} 0 ${-M_PI/2}" />
-        <parent link="${name}_color_frame" />
-        <child link="${name}_color_optical_frame" />
-      </joint>
-      <link name="${name}_color_optical_frame"/>
-    </xacro:if>
-
-    <xacro:if value="${add_plug}">
-      <xacro:usb_plug parent="${name}_link" name="${name}_usb_plug">
-        <origin xyz="${d435_cam_mount_from_center_offset - 0.02095} ${-d435_cam_depth_py - 0.0353} 0" rpy="0 0 0"/>
-      </xacro:usb_plug>
-    </xacro:if>
   </xacro:macro>
 </robot>
diff --git a/realsense2_description/urdf/test_d435_camera.urdf.xacro b/realsense2_description/urdf/test_d435_camera.urdf.xacro
index 7d1da6ccef..9735e81f86 100644
--- a/realsense2_description/urdf/test_d435_camera.urdf.xacro
+++ b/realsense2_description/urdf/test_d435_camera.urdf.xacro
@@ -1,12 +1,9 @@
 <?xml version="1.0"?>
 <robot name="realsense2_camera" xmlns:xacro="http://ros.org/wiki/xacro">
-  <xacro:arg name="use_nominal_extrinsics" default="false"/>
-  <xacro:arg name="add_plug" default="false" />
-  <xacro:arg name="use_mesh" default="true" />
   <xacro:include filename="$(find realsense2_description)/urdf/_d435.urdf.xacro" />
   
-  <link name="base_link" />
-  <xacro:sensor_d435 parent="base_link" use_nominal_extrinsics="$(arg use_nominal_extrinsics)" add_plug="$(arg add_plug)" use_mesh="$(arg use_mesh)">
-    <origin xyz="0 0 0" rpy="0 0 0"/>
-  </xacro:sensor_d435>
-</robot>
+  <link name="world" />
+  <xacro:sensor_d435 name="camera" topics_ns="camera" parent="world" publish_pointcloud="true">
+    <origin xyz="-1 -1 0" rpy="0 0 0" />
+  </xacro:sensor_d435>  
+</robot>
\ No newline at end of file