diff --git a/realsense2_camera/CMakeLists.txt b/realsense2_camera/CMakeLists.txt
index fd616fba7..e03e4d112 100644
--- a/realsense2_camera/CMakeLists.txt
+++ b/realsense2_camera/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 2.8.3)
-project(realsense2_camera)
+project(realsense2_camera_alternate_1)
 add_compile_options(-std=c++11)
 
 option(BUILD_WITH_OPENMP "Use OpenMP" OFF)
@@ -38,6 +38,8 @@ if(NOT realsense2_FOUND)
     message(FATAL_ERROR "\n\n Intel RealSense SDK 2.0 is missing, please install it from https://github.com/IntelRealSense/librealsense/releases\n\n")
 endif()
 
+find_package(Threads)
+
 if (CMAKE_BUILD_TYPE EQUAL "RELEASE")
     message(STATUS "Create Release Build.")
     set(CMAKE_CXX_FLAGS "-O2 ${CMAKE_CXX_FLAGS}")
diff --git a/realsense2_camera/include/realsense_node_factory.h b/realsense2_camera/include/realsense_node_factory.h
index 63397c1f9..b5283ca14 100644
--- a/realsense2_camera/include/realsense_node_factory.h
+++ b/realsense2_camera/include/realsense_node_factory.h
@@ -17,11 +17,11 @@
 #include <sensor_msgs/PointCloud2.h>
 #include <sensor_msgs/point_cloud2_iterator.h>
 #include <constants.h>
-#include <realsense2_camera/Extrinsics.h>
+#include <realsense2_camera_alternate_1/Extrinsics.h>
 #include <tf/transform_broadcaster.h>
 #include <tf2_ros/static_transform_broadcaster.h>
 #include <sensor_msgs/Imu.h>
-#include <realsense2_camera/IMUInfo.h>
+#include <realsense2_camera_alternate_1/IMUInfo.h>
 #include <csignal>
 #include <eigen3/Eigen/Geometry>
 #include <fstream>
diff --git a/realsense2_camera/launch/demo_pointcloud.launch b/realsense2_camera/launch/demo_pointcloud.launch
index 8779d7c8f..00ca07cc5 100644
--- a/realsense2_camera/launch/demo_pointcloud.launch
+++ b/realsense2_camera/launch/demo_pointcloud.launch
@@ -4,7 +4,7 @@
   <arg name="camera"                default="camera"/>
 
   <group ns="$(arg camera)">
-    <include file="$(find realsense2_camera)/launch/includes/nodelet.launch.xml">
+    <include file="$(find realsense2_camera_alternate_1)/launch/includes/nodelet.launch.xml">
       <arg name="serial_no"         value="$(arg serial_no)"/>
       <arg name="json_file_path"    value="$(arg json_file_path)"/>
       <arg name="depth_width"       value="640"/>
@@ -24,6 +24,6 @@
       <arg name="tf_prefix"         value="$(arg camera)"/>
     </include>
 
-    <node name="rviz" pkg="rviz" type="rviz" args="-d $(find realsense2_camera)/rviz/pointcloud.rviz" required="true" />
+    <node name="rviz" pkg="rviz" type="rviz" args="-d $(find realsense2_camera_alternate_1)/rviz/pointcloud.rviz" required="true" />
   </group>
 </launch>
diff --git a/realsense2_camera/launch/includes/nodelet.launch.xml b/realsense2_camera/launch/includes/nodelet.launch.xml
index d63a32318..4ba444ebf 100644
--- a/realsense2_camera/launch/includes/nodelet.launch.xml
+++ b/realsense2_camera/launch/includes/nodelet.launch.xml
@@ -75,7 +75,7 @@
 
 
   <node pkg="nodelet" type="nodelet" name="$(arg manager)" args="manager" output="screen"/>
-  <node pkg="nodelet" type="nodelet" name="realsense2_camera" args="load realsense2_camera/RealSenseNodeFactory $(arg manager)">
+  <node pkg="nodelet" type="nodelet" name="realsense2_camera" args="load realsense2_camera_alternate_1/RealSenseNodeFactory $(arg manager)">
     <param name="serial_no"                type="str"  value="$(arg serial_no)"/>
     <param name="json_file_path"           type="str"  value="$(arg json_file_path)"/>
     <param name="rosbag_filename"          type="str"  value="$(arg rosbag_filename)"/>
diff --git a/realsense2_camera/launch/opensource_tracking.launch b/realsense2_camera/launch/opensource_tracking.launch
index 44ef4be5d..30447f0c6 100644
--- a/realsense2_camera/launch/opensource_tracking.launch
+++ b/realsense2_camera/launch/opensource_tracking.launch
@@ -1,7 +1,7 @@
 <launch>
     <arg name="offline"          default="false"/>
     <include unless="$(arg offline)" 
-        file="$(find realsense2_camera)/launch/rs_camera.launch">
+        file="$(find realsense2_camera_alternate_1)/launch/rs_camera.launch">
         <arg name="align_depth" value="true"/>
         <arg name="linear_accel_cov" value="1.0"/>
         <arg name="unite_imu_method" value="linear_interpolation"/>
diff --git a/realsense2_camera/launch/rs_aligned_depth.launch b/realsense2_camera/launch/rs_aligned_depth.launch
index 2b931c050..902652f87 100644
--- a/realsense2_camera/launch/rs_aligned_depth.launch
+++ b/realsense2_camera/launch/rs_aligned_depth.launch
@@ -40,7 +40,7 @@
   <arg name="filters"             default=""/>
 
   <group ns="$(arg camera)">
-    <include file="$(find realsense2_camera)/launch/includes/nodelet.launch.xml">
+    <include file="$(find realsense2_camera_alternate_1)/launch/includes/nodelet.launch.xml">
       <arg name="tf_prefix"                value="$(arg tf_prefix)"/>
       <arg name="serial_no"                value="$(arg serial_no)"/>
       <arg name="json_file_path"           value="$(arg json_file_path)"/>
diff --git a/realsense2_camera/launch/rs_camera.launch b/realsense2_camera/launch/rs_camera.launch
index ff735b2ca..39014c541 100644
--- a/realsense2_camera/launch/rs_camera.launch
+++ b/realsense2_camera/launch/rs_camera.launch
@@ -47,7 +47,7 @@
   <arg name="unite_imu_method"      default=""/>
   
   <group ns="$(arg camera)">
-    <include file="$(find realsense2_camera)/launch/includes/nodelet.launch.xml">
+    <include file="$(find realsense2_camera_alternate_1)/launch/includes/nodelet.launch.xml">
       <arg name="tf_prefix"                value="$(arg tf_prefix)"/>
       <arg name="serial_no"                value="$(arg serial_no)"/>
       <arg name="json_file_path"           value="$(arg json_file_path)"/>
diff --git a/realsense2_camera/launch/rs_from_file.launch b/realsense2_camera/launch/rs_from_file.launch
index d7c7b83ea..f68dc2616 100644
--- a/realsense2_camera/launch/rs_from_file.launch
+++ b/realsense2_camera/launch/rs_from_file.launch
@@ -41,7 +41,7 @@
 
 
   <group ns="$(arg camera)">
-    <include file="$(find realsense2_camera)/launch/includes/nodelet.launch.xml">
+    <include file="$(find realsense2_camera_alternate_1)/launch/includes/nodelet.launch.xml">
       <arg name="serial_no"                value="$(arg serial_no)"/>
       <arg name="json_file_path"           value="$(arg json_file_path)"/>
       <arg name="rosbag_filename"           value="$(arg rosbag_filename)"/>
diff --git a/realsense2_camera/launch/rs_multiple_devices.launch b/realsense2_camera/launch/rs_multiple_devices.launch
index 12174ad2a..2028038dd 100644
--- a/realsense2_camera/launch/rs_multiple_devices.launch
+++ b/realsense2_camera/launch/rs_multiple_devices.launch
@@ -8,7 +8,7 @@
   <arg name="initial_reset"             default="false"/>
 
   <group ns="$(arg camera1)">
-    <include file="$(find realsense2_camera)/launch/includes/nodelet.launch.xml">
+    <include file="$(find realsense2_camera_alternate_1)/launch/includes/nodelet.launch.xml">
       <arg name="serial_no"             value="$(arg serial_no_camera1)"/>
       <arg name="tf_prefix"         		value="$(arg tf_prefix_camera1)"/>
       <arg name="initial_reset"         value="$(arg initial_reset)"/>
@@ -16,7 +16,7 @@
   </group>
 
   <group ns="$(arg camera2)">
-    <include file="$(find realsense2_camera)/launch/includes/nodelet.launch.xml">
+    <include file="$(find realsense2_camera_alternate_1)/launch/includes/nodelet.launch.xml">
       <arg name="serial_no"             value="$(arg serial_no_camera2)"/>
       <arg name="tf_prefix"		          value="$(arg tf_prefix_camera2)"/>
       <arg name="initial_reset"         value="$(arg initial_reset)"/>
diff --git a/realsense2_camera/launch/rs_rgbd.launch b/realsense2_camera/launch/rs_rgbd.launch
index 394e0dece..cba0f8ff2 100644
--- a/realsense2_camera/launch/rs_rgbd.launch
+++ b/realsense2_camera/launch/rs_rgbd.launch
@@ -19,7 +19,7 @@ A launch file, derived from rgbd_launch and customized for Realsense ROS driver,
 to publish XYZRGB point cloud like an OpenNI camera.
 
 To launch Realsense with software registeration (ROS Image Pipeline and rgbd_launch):
-    $ roslaunch realsense2_camera rs_rgbd.launch
+    $ roslaunch realsense2_camera_alternate_1 rs_rgbd.launch
 Processing enabled by ROS driver:
     # depth rectification
 Processing enabled by this node:
@@ -28,7 +28,7 @@ Processing enabled by this node:
     # pointcloud_xyzrgb generation
 
 To launch Realsense with hardware registeration (ROS Realsense depth alignment):
-    $ roslaunch realsense2_camera rs_rgbd.launch align_depth:=true
+    $ roslaunch realsense2_camera_alternate_1 rs_rgbd.launch align_depth:=true
 Processing enabled by ROS driver:
     # depth rectification
     # depth registration
@@ -111,7 +111,7 @@ Processing enabled by this node:
   <group ns="$(arg camera)">
 
     <!-- Launch the camera device nodelet-->
-    <include file="$(find realsense2_camera)/launch/includes/nodelet.launch.xml">
+    <include file="$(find realsense2_camera_alternate_1)/launch/includes/nodelet.launch.xml">
       <arg name="manager"                  value="$(arg manager)"/>
       <arg name="tf_prefix"                value="$(arg tf_prefix)"/>
       <arg name="serial_no"                value="$(arg serial_no)"/>
diff --git a/realsense2_camera/launch/view_d415_model.launch b/realsense2_camera/launch/view_d415_model.launch
index 12fd3aebb..829a8bc41 100644
--- a/realsense2_camera/launch/view_d415_model.launch
+++ b/realsense2_camera/launch/view_d415_model.launch
@@ -1,8 +1,8 @@
 <launch>
-    <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find realsense2_camera)/urdf/test_d415_camera.urdf.xacro'" />
+    <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find realsense2_camera_alternate_1)/urdf/test_d415_camera.urdf.xacro'" />
     <node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
 
     <arg name="gui" default="True" />
     <param name="use_gui" value="$(arg gui)"/>
-    <node name="rviz" pkg="rviz" type="rviz" args="-d $(find realsense2_camera)/rviz/urdf.rviz" required="true" />
+    <node name="rviz" pkg="rviz" type="rviz" args="-d $(find realsense2_camera_alternate_1)/rviz/urdf.rviz" required="true" />
 </launch>
diff --git a/realsense2_camera/launch/view_d435_model.launch b/realsense2_camera/launch/view_d435_model.launch
index 4fe9cb094..a7c41226b 100644
--- a/realsense2_camera/launch/view_d435_model.launch
+++ b/realsense2_camera/launch/view_d435_model.launch
@@ -1,8 +1,8 @@
 <launch>
-    <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find realsense2_camera)/urdf/test_d435_camera.urdf.xacro'" />
+    <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find realsense2_camera_alternate_1)/urdf/test_d435_camera.urdf.xacro'" />
     <node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
 
     <arg name="gui" default="True" />
     <param name="use_gui" value="$(arg gui)"/>
-    <node name="rviz" pkg="rviz" type="rviz" args="-d $(find realsense2_camera)/rviz/urdf.rviz" required="true" />
+    <node name="rviz" pkg="rviz" type="rviz" args="-d $(find realsense2_camera_alternate_1)/rviz/urdf.rviz" required="true" />
 </launch>
diff --git a/realsense2_camera/launch/view_r410_model.launch b/realsense2_camera/launch/view_r410_model.launch
index 88e0b5138..1c1338e27 100644
--- a/realsense2_camera/launch/view_r410_model.launch
+++ b/realsense2_camera/launch/view_r410_model.launch
@@ -1,8 +1,8 @@
 <launch>
-    <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find realsense2_camera)/urdf/test_r410_camera.urdf.xacro'" />
+    <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find realsense2_camera_alternate_1)/urdf/test_r410_camera.urdf.xacro'" />
     <node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
 
     <arg name="gui" default="True" />
     <param name="use_gui" value="$(arg gui)"/>
-    <node name="rviz" pkg="rviz" type="rviz" args="-d $(find realsense2_camera)/rviz/urdf.rviz" required="true" />
+    <node name="rviz" pkg="rviz" type="rviz" args="-d $(find realsense2_camera_alternate_1)/rviz/urdf.rviz" required="true" />
 </launch>
diff --git a/realsense2_camera/launch/view_r430_model.launch b/realsense2_camera/launch/view_r430_model.launch
index e21217bbe..ea36b3a54 100644
--- a/realsense2_camera/launch/view_r430_model.launch
+++ b/realsense2_camera/launch/view_r430_model.launch
@@ -1,8 +1,8 @@
 <launch>
-    <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find realsense2_camera)/urdf/test_r430_camera.urdf.xacro'" />
+    <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find realsense2_camera_alternate_1)/urdf/test_r430_camera.urdf.xacro'" />
     <node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
 
     <arg name="gui" default="True" />
     <param name="use_gui" value="$(arg gui)"/>
-    <node name="rviz" pkg="rviz" type="rviz" args="-d $(find realsense2_camera)/rviz/urdf.rviz" required="true" />
+    <node name="rviz" pkg="rviz" type="rviz" args="-d $(find realsense2_camera_alternate_1)/rviz/urdf.rviz" required="true" />
 </launch>
diff --git a/realsense2_camera/nodelet_plugins.xml b/realsense2_camera/nodelet_plugins.xml
index 838d23a53..269d84442 100644
--- a/realsense2_camera/nodelet_plugins.xml
+++ b/realsense2_camera/nodelet_plugins.xml
@@ -1,5 +1,5 @@
-<library path="lib/librealsense2_camera">
-    <class name="realsense2_camera/RealSenseNodeFactory" type="realsense2_camera::RealSenseNodeFactory" base_class_type="nodelet::Nodelet">
+<library path="lib/librealsense2_camera_alternate_1">
+    <class name="realsense2_camera_alternate_1/RealSenseNodeFactory" type="realsense2_camera::RealSenseNodeFactory" base_class_type="nodelet::Nodelet">
         <description>
             Example camera nodelet using the Intel RealSense SDK 2.0 library for Intel RealSense SR300 and D400 cameras
         </description>
diff --git a/realsense2_camera/package.xml b/realsense2_camera/package.xml
index 7bd6a0d58..5056c585e 100644
--- a/realsense2_camera/package.xml
+++ b/realsense2_camera/package.xml
@@ -1,6 +1,6 @@
 <?xml version="1.0"?>
 <package>
-  <name>realsense2_camera</name>
+  <name>realsense2_camera_alternate_1</name>
   <version>2.1.1</version>
   <description>RealSense Camera package allowing access to Intel 3D D400 cameras</description>
   <maintainer email="sergey.dorodnicov@intel.com">Sergey Dorodnicov</maintainer>
diff --git a/realsense2_camera/scripts/rs2_test.py b/realsense2_camera/scripts/rs2_test.py
index 1e81c79da..d91ba59d1 100644
--- a/realsense2_camera/scripts/rs2_test.py
+++ b/realsense2_camera/scripts/rs2_test.py
@@ -171,7 +171,7 @@ def run_tests(tests):
         themes = [test_types[test['type']]['listener_theme'] for test in rec_tests]
         msg_retriever = CWaitForMessage(msg_params)
         print 'Starting ROS'
-        p_wrapper = subprocess.Popen(['roslaunch', 'realsense2_camera', 'rs_from_file.launch'] + params_str.split(' '), stdout=None, stderr=None)
+        p_wrapper = subprocess.Popen(['roslaunch', 'realsense2_camera_alternate_1', 'rs_from_file.launch'] + params_str.split(' '), stdout=None, stderr=None)
         listener_res = msg_retriever.wait_for_messages(themes)
         print 'Killing ROS'
         p_wrapper.terminate()
diff --git a/realsense2_camera/urdf/_d415.urdf.xacro b/realsense2_camera/urdf/_d415.urdf.xacro
index 759309c73..c5e5519fe 100644
--- a/realsense2_camera/urdf/_d415.urdf.xacro
+++ b/realsense2_camera/urdf/_d415.urdf.xacro
@@ -56,7 +56,7 @@ aluminum peripherial evaluation case.
       <origin xyz="${d415_cam_mount_from_center_offset} ${-d415_cam_depth_py} 0" rpy="${M_PI/2} 0 ${M_PI/2}"/>
         <geometry>
           <!-- <box size="${d415_cam_width} ${d415_cam_height} ${d415_cam_depth}"/> -->
-	         <mesh filename="package://realsense2_camera/meshes/d415.stl" />
+	         <mesh filename="package://realsense2_camera_alternate_1/meshes/d415.stl" />
         </geometry>
         <material name="aluminum"/>
       </visual>
diff --git a/realsense2_camera/urdf/_d435.urdf.xacro b/realsense2_camera/urdf/_d435.urdf.xacro
index 34b79ef21..c285113fa 100644
--- a/realsense2_camera/urdf/_d435.urdf.xacro
+++ b/realsense2_camera/urdf/_d435.urdf.xacro
@@ -56,8 +56,8 @@ aluminum peripherial evaluation case.
       <origin xyz="${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_camera/meshes/d435.dae" />
-          <!--<mesh filename="package://realsense2_camera/meshes/d435/d435.dae" />-->
+	  <mesh filename="package://realsense2_camera_alternate_1/meshes/d435.dae" />
+          <!--<mesh filename="package://realsense2_camera_alternate_1/meshes/d435/d435.dae" />-->
 
         </geometry>
         <material name="aluminum"/>
diff --git a/realsense2_camera/urdf/_r410.urdf.xacro b/realsense2_camera/urdf/_r410.urdf.xacro
index 9670fa47f..862b53d8e 100644
--- a/realsense2_camera/urdf/_r410.urdf.xacro
+++ b/realsense2_camera/urdf/_r410.urdf.xacro
@@ -48,7 +48,7 @@ aluminum peripherial evalution case.
       <origin xyz="0 ${-r410_cam_mount_from_center_offset} ${r410_cam_height/2}" rpy="${M_PI/2} 0 ${M_PI/2}"/>
         <geometry>
           <box size="${r410_cam_width} ${r410_cam_height} ${r410_cam_depth}"/>
-          <!--<mesh filename="package://realsense2_camera/meshes/r410/r410.dae" />-->
+          <!--<mesh filename="package://realsense2_camera_alternate_1/meshes/r410/r410.dae" />-->
         </geometry>
         <material name="aluminum"/>
       </visual>
diff --git a/realsense2_camera/urdf/_r430.urdf.xacro b/realsense2_camera/urdf/_r430.urdf.xacro
index 5733b4f0c..e05cdbbc3 100644
--- a/realsense2_camera/urdf/_r430.urdf.xacro
+++ b/realsense2_camera/urdf/_r430.urdf.xacro
@@ -49,7 +49,7 @@ aluminum peripherial evaluation case.
       <origin xyz="0 ${-r430_cam_mount_from_center_offset} ${r430_cam_height/2}" rpy="${M_PI/2} 0 ${M_PI/2}"/>
         <geometry>
           <box size="${r430_cam_width} ${r430_cam_height} ${r430_cam_depth}"/>
-          <!--<mesh filename="package://realsense2_camera/meshes/r430/r430.dae" />-->
+          <!--<mesh filename="package://realsense2_camera_alternate_1/meshes/r430/r430.dae" />-->
         </geometry>
         <material name="aluminum"/>
       </visual>
diff --git a/realsense2_camera/urdf/test_d415_camera.urdf.xacro b/realsense2_camera/urdf/test_d415_camera.urdf.xacro
index 835b73312..c374df501 100644
--- a/realsense2_camera/urdf/test_d415_camera.urdf.xacro
+++ b/realsense2_camera/urdf/test_d415_camera.urdf.xacro
@@ -1,6 +1,6 @@
 <?xml version="1.0"?>
 <robot name="realsense2_camera" xmlns:xacro="http://ros.org/wiki/xacro">
-  <xacro:include filename="$(find realsense2_camera)/urdf/_d415.urdf.xacro"/>
+  <xacro:include filename="$(find realsense2_camera_alternate_1)/urdf/_d415.urdf.xacro"/>
 
   <link name="base_link" />
   <sensor_d415 parent="base_link">
diff --git a/realsense2_camera/urdf/test_d435_camera.urdf.xacro b/realsense2_camera/urdf/test_d435_camera.urdf.xacro
index c5b2e1e6d..797a8b9b5 100644
--- a/realsense2_camera/urdf/test_d435_camera.urdf.xacro
+++ b/realsense2_camera/urdf/test_d435_camera.urdf.xacro
@@ -1,6 +1,6 @@
 <?xml version="1.0"?>
 <robot name="realsense2_camera" xmlns:xacro="http://ros.org/wiki/xacro">
-  <xacro:include filename="$(find realsense2_camera)/urdf/_d435.urdf.xacro"/>
+  <xacro:include filename="$(find realsense2_camera_alternate_1)/urdf/_d435.urdf.xacro"/>
   
   <link name="base_link" />
   <sensor_d435 parent="base_link">
diff --git a/realsense2_camera/urdf/test_r410_camera.urdf.xacro b/realsense2_camera/urdf/test_r410_camera.urdf.xacro
index cb273aede..18a032443 100644
--- a/realsense2_camera/urdf/test_r410_camera.urdf.xacro
+++ b/realsense2_camera/urdf/test_r410_camera.urdf.xacro
@@ -1,6 +1,6 @@
 <?xml version="1.0"?>
 <robot name="realsense2_camera" xmlns:xacro="http://ros.org/wiki/xacro">
-  <xacro:include filename="$(find realsense2_camera)/urdf/_r410.urdf.xacro"/>
+  <xacro:include filename="$(find realsense2_camera_alternate_1)/urdf/_r410.urdf.xacro"/>
   
   <link name="base_link" />
   <sensor_r410 parent="base_link">
diff --git a/realsense2_camera/urdf/test_r430_camera.urdf.xacro b/realsense2_camera/urdf/test_r430_camera.urdf.xacro
index d88c443e7..ce135541b 100644
--- a/realsense2_camera/urdf/test_r430_camera.urdf.xacro
+++ b/realsense2_camera/urdf/test_r430_camera.urdf.xacro
@@ -1,6 +1,6 @@
 <?xml version="1.0"?>
 <robot name="realsense2_camera" xmlns:xacro="http://ros.org/wiki/xacro">
-  <xacro:include filename="$(find realsense2_camera)/urdf/_r430.urdf.xacro"/>
+  <xacro:include filename="$(find realsense2_camera_alternate_1)/urdf/_r430.urdf.xacro"/>
   
   <link name="base_link" />
   <sensor_r430 parent="base_link">