diff --git a/urdf/include/sensors.xacro b/urdf/include/sensors.xacro
index 52e7db5868e83c6f8a8827aefe4fecc9b2f9743d..a661421172117fa3cdcbfa23307ace12b68d88e6 100644
--- a/urdf/include/sensors.xacro
+++ b/urdf/include/sensors.xacro
@@ -2,7 +2,6 @@
 
 <root xmlns:xacro="http://ros.org/wiki/xacro">
   <xacro:include filename="$(find iri_velodyne_lidar_description)/urdf/velodyne_vlp16.xacro" />
-  <!--<xacro:include filename="$(find iri_realsense_depth_description)/urdf/realsense.xacro" />-->
   <xacro:include filename="$(find iri_realsense_depth_description)/urdf/realsense_d435.xacro" />
   <xacro:include filename="$(find iri_bno055_imu_description)/urdf/bno055_imu.xacro" />
   <xacro:include filename="$(find iri_dynamixel_pan_tilt_description)/urdf/pan_tilt.xacro" />
@@ -60,10 +59,6 @@
       <origin xyz="0.26374 0 -0.0485" rpy="0 0 0"/>
     </joint>
 
-    <!--<xacro:realsense_depth parent="${name}_realsense_support" model="d435" sim_config="$(find iri_ana_gazebo)/config/ana_realsense_config.yaml">
-      <origin xyz="0.0 0.0 0.0265" rpy="0 0.26 0" />
-    </xacro:realsense_depth>-->
-
     <xacro:realsense_d435_depth parent="${name}_realsense_support" sim_config="$(find iri_ana_gazebo)/config/ana_realsense_config.yaml">
       <origin xyz="0.0 0.0 0.0265" rpy="0 0.26 0" />
     </xacro:realsense_d435_depth>
@@ -75,10 +70,6 @@
     <link name="${pan_tilt_xacro_properties['load_name']}">
     </link>
 
-    <!--<xacro:realsense_depth parent="${pan_tilt_xacro_properties['load_name']}" model="d435" name="camera_pan_tilt" sim_config="$(find iri_ana_gazebo)/config/ana_realsense_pan_tilt_config.yaml" first="false">
-      <origin xyz="0.0 0.04 -0.016" rpy="-${pi/2} 0 ${pi}" />
-    </xacro:realsense_depth>-->
-
     <xacro:realsense_d435_depth parent="${pan_tilt_xacro_properties['load_name']}" name="camera_pan_tilt" sim_config="$(find iri_ana_gazebo)/config/ana_realsense_pan_tilt_config.yaml">
       <origin xyz="0.0 0.02 -0.016" rpy="${pi/2} 0 ${pi}" />
     </xacro:realsense_d435_depth>