diff --git a/urdf/_d415.urdf.xacro b/urdf/_d415.urdf.xacro
new file mode 100644
index 0000000..e398f5b
--- /dev/null
+++ b/urdf/_d415.urdf.xacro
@@ -0,0 +1,183 @@
+<?xml version="1.0"?>
+
+<!--
+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 410 camera, in it's
+aluminum peripherial evaluation case.
+-->
+
+<robot name="sensor_d415" xmlns:xacro="http://www.ros.org/wiki/xacro">
+  <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="d415_cam_depth_to_left_ir_offset" value="0.0"/>
+  <xacro:property name="d415_cam_depth_to_right_ir_offset" value="-0.050"/>
+  <xacro:property name="d415_cam_depth_to_color_offset" value="0.015"/>
+
+  <!-- The following values model the aluminum peripherial case for the
+    d415 camera, with the camera joint represented by the actual
+    peripherial camera tripod mount -->
+  <xacro:property name="d415_cam_width" value="0.090"/>
+  <xacro:property name="d415_cam_height" value="0.03"/>
+  <xacro:property name="d415_cam_depth" value="0.02505"/>
+  <xacro:property name="d415_cam_mount_from_center_offset" value="0.0149"/>
+
+  <!-- The following offset is relative the the physical d415 camera peripherial
+    camera tripod mount -->
+  <xacro:property name="d415_cam_depth_px" value="${d415_cam_mount_from_center_offset}"/>
+  <xacro:property name="d415_cam_depth_py" value="0.0175"/>
+  <xacro:property name="d415_cam_depth_pz" value="${d415_cam_height/2}"/>
+
+  <material name="aluminum">
+    <color rgba="0.5 0.5 0.5 1"/>
+  </material>
+
+  <xacro:macro name="sensor_d415" params="parent camera_name *origin">
+
+    <!-- camera body, with origin at bottom screw mount -->
+    <joint name="camera_joint" type="fixed">
+      <xacro:insert_block name="origin" />
+      <parent link="${parent}"/>
+      <child link="camera_link" />
+    </joint>
+
+    <link name="camera_link">
+      <visual>
+      <origin xyz="0.007 0 ${d415_cam_height/2+0.0015}" rpy="0 0 ${M_PI/2}"/>
+        <geometry>
+          <!--<box size="${d415_cam_width} ${d415_cam_height} ${d415_cam_depth}"/>-->
+          <mesh filename="package://realsense2_description/meshes/d415.dae" />
+        </geometry>
+        <material name="aluminum"/>
+      </visual>
+      <collision>
+        <origin xyz="0.0 0.0 ${d415_cam_height/2}" rpy="0 0 0"/>
+        <geometry>
+        <box size="${d415_cam_depth} ${d415_cam_width} ${d415_cam_height}"/>
+        </geometry>
+      </collision>
+      <inertial>
+        <!-- The following are not reliable values, and should not be used for modeling -->
+        <mass value="0.072" />
+        <origin xyz="0 0 0" />
+        <inertia ixx="0.003881243" ixy="0.0" ixz="0.0" iyy="0.000498940" iyz="0.0" izz="0.003879257" />
+      </inertial>
+    </link>
+
+    <!-- camera depth joints and links -->
+    <joint name="camera_depth_joint" type="fixed">
+      <origin xyz="${d415_cam_depth_px} ${d415_cam_depth_py} ${d415_cam_depth_pz}" rpy="0 0 0"/>
+      <parent link="camera_link"/>
+      <child link="camera_depth_frame" />
+    </joint>
+    <link name="camera_depth_frame"/>
+
+    <joint name="camera_depth_optical_joint" type="fixed">
+      <origin xyz="0 0 0" rpy="${-M_PI/2} 0 ${-M_PI/2}" />
+      <parent link="camera_depth_frame" />
+      <child link="camera_depth_optical_frame" />
+    </joint>
+    <link name="camera_depth_optical_frame"/>
+
+    <!-- camera left IR joints and links -->
+    <joint name="camera_left_ir_joint" type="fixed">
+      <origin xyz="0 ${d415_cam_depth_to_left_ir_offset} 0" rpy="0 0 0" />
+      <parent link="camera_depth_frame" />
+      <child link="camera_left_ir_frame" />
+    </joint>
+    <link name="camera_left_ir_frame"/>
+
+    <joint name="camera_left_ir_optical_joint" type="fixed">
+      <origin xyz="0 0 0" rpy="${-M_PI/2} 0 ${-M_PI/2}" />
+      <parent link="camera_left_ir_frame" />
+      <child link="camera_left_ir_optical_frame" />
+    </joint>
+    <link name="camera_left_ir_optical_frame"/>
+
+    <!-- camera right IR joints and links -->
+    <joint name="camera_right_ir_joint" type="fixed">
+      <origin xyz="0 ${d415_cam_depth_to_right_ir_offset} 0" rpy="0 0 0" />
+      <parent link="camera_depth_frame" />
+      <child link="camera_right_ir_frame" />
+    </joint>
+    <link name="camera_right_ir_frame"/>
+
+    <joint name="camera_right_ir_optical_joint" type="fixed">
+      <origin xyz="0 0 0" rpy="${-M_PI/2} 0 ${-M_PI/2}" />
+      <parent link="camera_right_ir_frame" />
+      <child link="camera_right_ir_optical_frame" />
+    </joint>
+    <link name="camera_right_ir_optical_frame"/>
+
+    <!-- camera color joints and links -->
+    <joint name="camera_color_joint" type="fixed">
+      <origin xyz="0 ${d415_cam_depth_to_color_offset} 0" rpy="0 0 0" />
+      <parent link="camera_depth_frame" />
+      <child link="camera_color_frame" />
+    </joint>
+    <link name="camera_color_frame"/>
+
+    <joint name="camera_color_optical_joint" type="fixed">
+      <origin xyz="0 0 0" rpy="${-M_PI/2} 0 ${-M_PI/2}" />
+      <parent link="camera_color_frame" />
+      <child link="camera_color_optical_frame" />
+    </joint>
+    <link name="camera_color_optical_frame"/>
+
+    <!-- D415 3D Depth Camera -->
+    <gazebo reference="camera_depth_frame">
+      <sensor name="realsense_d415" type="depth">
+        <always_on>1</always_on>
+        <visualize>1</visualize>
+        <camera name='${camera_name}'>
+          <horizontal_fov>1.1065</horizontal_fov>
+          <image> <!-- Values can be changed in physical version -->
+            <width>1280</width>
+            <height>720</height>
+            <format>B8G8R8</format>
+          </image>
+          <depth_camera>
+            <output>depths</output>
+          </depth_camera>
+          <clip>
+            <near>0.1</near>
+            <far>200</far>
+          </clip>
+          <noise>
+            <type>gaussian</type>
+            <mean>0.0</mean>
+            <stddev>0.007</stddev>
+          </noise>
+        </camera>
+        <plugin name="camera_link_controller" filename="libgazebo_ros_openni_kinect.so">
+          <baseline>0.2</baseline>
+          <alwaysOn>true</alwaysOn>
+          <updateRate>30.0</updateRate>
+          <cameraName>${camera_name}_ir</cameraName>
+          <imageTopicName>/${camera_name}/color/image_raw</imageTopicName>
+          <cameraInfoTopicName>/${camera_name}/color/camera_info</cameraInfoTopicName>
+          <depthImageTopicName>/${camera_name}/depth/image_raw</depthImageTopicName>
+          <depthImageInfoTopicName>/${camera_name}/depth/camera_info</depthImageInfoTopicName>
+          <pointCloudTopicName>/${camera_name}/depth/color/points</pointCloudTopicName>
+          <frameName>/camera_depth_optical_frame</frameName>
+          <pointCloudCutoff>0.16</pointCloudCutoff>
+          <pointCloudCutoffmax>8</pointCloudCutoffmax>
+          <distortionK1>0.00000001</distortionK1>
+          <distortionK2>0.00000001</distortionK2>
+          <distortionK3>0.00000001</distortionK3>
+          <distortionT1>0.00000001</distortionT1>
+          <distortionT2>0.00000001</distortionT2>
+          <CxPrime>0</CxPrime>
+          <Cx>0</Cx>
+          <Cy>0</Cy>
+          <focalLength>0.0</focalLength>
+          <hackBaseline>0</hackBaseline>
+        </plugin>
+      </sensor>
+    </gazebo>
+
+  </xacro:macro>
+</robot>
diff --git a/urdf/_d435.urdf.xacro b/urdf/_d435.urdf.xacro
new file mode 100644
index 0000000..0260c3f
--- /dev/null
+++ b/urdf/_d435.urdf.xacro
@@ -0,0 +1,183 @@
+<?xml version="1.0"?>
+
+<!--
+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 it's
+aluminum peripherial evaluation case.
+-->
+
+<robot name="sensor_d435" xmlns:xacro="http://www.ros.org/wiki/xacro">
+  <xacro:macro name="sensor_d435" params="parent camera_name *origin">
+    <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_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 -->
+    <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"/>
+
+    <!-- The following offset is relative the the physical D435 camera peripherial
+  	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="aluminum">
+	  <color rgba="0.5 0.5 0.5 1"/>
+    </material>
+
+
+    <!-- camera body, with origin at bottom screw mount -->
+    <joint name="camera_joint" type="fixed">
+      <xacro:insert_block name="origin" />
+      <parent link="${parent}"/>
+      <child link="camera_link" />
+    </joint>
+
+    <link name="camera_link">
+      <visual>
+      <origin xyz="${d435_cam_mount_from_center_offset} 0.0 ${d435_cam_height/2}" rpy="${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" />
+        </geometry>
+        <material name="aluminum"/>
+      </visual>
+      <collision>
+        <origin xyz="0.0 0.0 ${d435_cam_height/2}" rpy="0 0 0"/>
+        <geometry>
+        <box size="${d435_cam_depth} ${d435_cam_width} ${d435_cam_height}"/>
+        </geometry>
+      </collision>
+      <inertial>
+        <!-- The following are not reliable values, and should not be used for modeling -->
+        <mass value="0.072" />
+        <origin xyz="0 0 0" />
+        <inertia ixx="0.003881243" ixy="0.0" ixz="0.0" iyy="0.000498940" iyz="0.0" izz="0.003879257" />
+      </inertial>
+    </link>
+
+    <!-- camera depth joints and links -->
+    <joint name="camera_depth_joint" type="fixed">
+      <origin xyz="${d435_cam_depth_px} ${d435_cam_depth_py} ${d435_cam_depth_pz}" rpy="0 0 0"/>
+      <parent link="camera_link"/>
+      <child link="camera_depth_frame" />
+    </joint>
+    <link name="camera_depth_frame"/>
+
+    <joint name="camera_depth_optical_joint" type="fixed">
+      <origin xyz="0 0 0" rpy="${-M_PI/2} 0 ${-M_PI/2}" />
+      <parent link="camera_depth_frame" />
+      <child link="camera_depth_optical_frame" />
+    </joint>
+    <link name="camera_depth_optical_frame"/>
+
+    <!-- camera left IR joints and links -->
+    <joint name="camera_left_ir_joint" type="fixed">
+      <origin xyz="0 ${d435_cam_depth_to_left_ir_offset} 0" rpy="0 0 0" />
+      <parent link="camera_depth_frame" />
+      <child link="camera_left_ir_frame" />
+    </joint>
+    <link name="camera_left_ir_frame"/>
+
+    <joint name="camera_left_ir_optical_joint" type="fixed">
+      <origin xyz="0 0 0" rpy="${-M_PI/2} 0 ${-M_PI/2}" />
+      <parent link="camera_left_ir_frame" />
+      <child link="camera_left_ir_optical_frame" />
+    </joint>
+    <link name="camera_left_ir_optical_frame"/>
+
+    <!-- camera right IR joints and links -->
+    <joint name="camera_right_ir_joint" type="fixed">
+      <origin xyz="0 ${d435_cam_depth_to_right_ir_offset} 0" rpy="0 0 0" />
+      <parent link="camera_depth_frame" />
+      <child link="camera_right_ir_frame" />
+    </joint>
+    <link name="camera_right_ir_frame"/>
+
+    <joint name="camera_right_ir_optical_joint" type="fixed">
+      <origin xyz="0 0 0" rpy="${-M_PI/2} 0 ${-M_PI/2}" />
+      <parent link="camera_right_ir_frame" />
+      <child link="camera_right_ir_optical_frame" />
+    </joint>
+    <link name="camera_right_ir_optical_frame"/>
+
+    <!-- camera color joints and links -->
+    <joint name="camera_color_joint" type="fixed">
+      <origin xyz="0 ${d435_cam_depth_to_color_offset} 0" rpy="0 0 0" />
+      <parent link="camera_depth_frame" />
+      <child link="camera_color_frame" />
+    </joint>
+    <link name="camera_color_frame"/>
+
+    <joint name="camera_color_optical_joint" type="fixed">
+      <origin xyz="0 0 0" rpy="${-M_PI/2} 0 ${-M_PI/2}" />
+      <parent link="camera_color_frame" />
+      <child link="camera_color_optical_frame" />
+    </joint>
+    <link name="camera_color_optical_frame"/>
+
+    <!-- D435 3D Depth Camera -->
+    <gazebo reference="camera_depth_frame">
+      <sensor name="realsense_d435" type="depth">
+        <always_on>1</always_on>
+        <visualize>1</visualize>
+        <camera name='${camera_name}'>
+          <horizontal_fov>1.487</horizontal_fov>
+          <image> <!-- Values can be changed in physical version -->
+            <width>848</width>
+            <height>480</height>
+            <format>B8G8R8</format>
+          </image>
+          <depth_camera>
+            <output>depths</output>
+          </depth_camera>
+          <clip>
+            <near>0.1</near>
+            <far>200</far>
+          </clip>
+          <noise>
+            <type>gaussian</type>
+            <mean>0.0</mean>
+            <stddev>0.007</stddev>
+          </noise>
+        </camera>
+        <plugin name="camera_link_controller" filename="libgazebo_ros_openni_kinect.so">
+          <baseline>0.2</baseline>
+          <alwaysOn>true</alwaysOn>
+          <updateRate>30.0</updateRate>
+          <cameraName>${camera_name}_ir</cameraName>
+          <imageTopicName>/${camera_name}/color/image_raw</imageTopicName>
+          <cameraInfoTopicName>/${camera_name}/color/camera_info</cameraInfoTopicName>
+          <depthImageTopicName>/${camera_name}/depth/image_raw</depthImageTopicName>
+          <depthImageInfoTopicName>/${camera_name}/depth/camera_info</depthImageInfoTopicName>
+          <pointCloudTopicName>/${camera_name}/depth/color/points</pointCloudTopicName>
+          <frameName>/camera_depth_optical_frame</frameName>
+          <pointCloudCutoff>0.11</pointCloudCutoff>
+          <pointCloudCutoffmax>8</pointCloudCutoffmax>
+          <distortionK1>0.00000001</distortionK1>
+          <distortionK2>0.00000001</distortionK2>
+          <distortionK3>0.00000001</distortionK3>
+          <distortionT1>0.00000001</distortionT1>
+          <distortionT2>0.00000001</distortionT2>
+          <CxPrime>0</CxPrime>
+          <Cx>0</Cx>
+          <Cy>0</Cy>
+          <focalLength>0.0</focalLength>
+          <hackBaseline>0</hackBaseline>
+        </plugin>
+      </sensor>
+    </gazebo>
+
+  </xacro:macro>
+</robot>