diff --git a/CMakeLists.txt b/CMakeLists.txt
new file mode 100644
index 0000000000000000000000000000000000000000..b8824d40b730dd7d41a3e03bb76e8b94b47e79fe
--- /dev/null
+++ b/CMakeLists.txt
@@ -0,0 +1,195 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(iri_depth_camera_gazebo)
+
+## Compile as C++11, supported in ROS Kinetic and newer
+# add_compile_options(-std=c++11)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+## * add a build_depend tag for "message_generation"
+## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
+## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
+## but can be declared for certainty nonetheless:
+## * add a exec_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+## * add "message_generation" and every package in MSG_DEP_SET to
+## find_package(catkin REQUIRED COMPONENTS ...)
+## * add "message_runtime" and every package in MSG_DEP_SET to
+## catkin_package(CATKIN_DEPENDS ...)
+## * uncomment the add_*_files sections below as needed
+## and list every .msg/.srv/.action file to be processed
+## * uncomment the generate_messages entry below
+## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+# FILES
+# Message1.msg
+# Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+# FILES
+# Service1.srv
+# Service2.srv
+# )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+# FILES
+# Action1.action
+# Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+# DEPENDENCIES
+# std_msgs # Or other packages containing msgs
+# )
+
+################################################
+## Declare ROS dynamic reconfigure parameters ##
+################################################
+
+## To declare and build dynamic reconfigure parameters within this
+## package, follow these steps:
+## * In the file package.xml:
+## * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
+## * In this file (CMakeLists.txt):
+## * add "dynamic_reconfigure" to
+## find_package(catkin REQUIRED COMPONENTS ...)
+## * uncomment the "generate_dynamic_reconfigure_options" section below
+## and list every .cfg file to be processed
+
+## Generate dynamic reconfigure parameters in the 'cfg' folder
+# generate_dynamic_reconfigure_options(
+# cfg/DynReconf1.cfg
+# cfg/DynReconf2.cfg
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if your package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+# INCLUDE_DIRS include
+# LIBRARIES iri_depth_camera_gazebo
+# CATKIN_DEPENDS other_catkin_pkg
+# DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(
+# include
+# ${catkin_INCLUDE_DIRS}
+)
+
+## Declare a C++ library
+# add_library(${PROJECT_NAME}
+# src/${PROJECT_NAME}/iri_depth_camera_gazebo.cpp
+# )
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Declare a C++ executable
+## With catkin_make all packages are built within a single CMake context
+## The recommended prefix ensures that target names across packages don't collide
+# add_executable(${PROJECT_NAME}_node src/iri_depth_camera_gazebo_node.cpp)
+
+## Rename C++ executable without prefix
+## The above recommended prefix causes long target names, the following renames the
+## target back to the shorter version for ease of user use
+## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
+# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
+
+## Add cmake target dependencies of the executable
+## same as for the library above
+# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Specify libraries to link a library or executable target against
+# target_link_libraries(${PROJECT_NAME}_node
+# ${catkin_LIBRARIES}
+# )
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# install(PROGRAMS
+# scripts/my_python_script
+# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables and/or libraries for installation
+# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node
+# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+# FILES_MATCHING PATTERN "*.h"
+# PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+# # myfile1
+# # myfile2
+# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_iri_depth_camera_gazebo.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)
diff --git a/README.md b/README.md
new file mode 100644
index 0000000000000000000000000000000000000000..df612d80b7d9a068eb246856571420cf50705652
--- /dev/null
+++ b/README.md
@@ -0,0 +1,39 @@
+# Description
+
+This ROS package encapsulates the IMU sensor from the [Hector gazebo plugins package](http://wiki.ros.org/hector_gazebo_plugins) in a xacro macro to simplify its integration.
+
+# Dependencies
+
+This node has the following ROS dependencies:
+
+ * [Hector gazebo plugins package](http://wiki.ros.org/hector_gazebo_plugins)
+
+This dependencies can be installed with the following command:
+
+```
+sudo apt-get install ros-kinetic-hector-gazebo-plugins
+```
+
+This node has the following ROS IRI dependencies:
+
+ * [IRI Microstrain IMU description](https://gitlab.iri.upc.edu/labrobotica/ros/sensors/imu/iri_microstrain_imu_description).
+
+
+# Install
+
+This package can be cloned to an active workspace with the following command:
+
+```
+roscd
+cd ../src
+git clone https://gitlab.iri.upc.edu/labrobotica/ros/sensors/imu/iri_imu_gazebo.git
+```
+
+# How to use it
+
+This IMU gazebo model is automatically included when an IMU sensor in included in a xacro or urdf file. This plugin can be fully configured by a YAML file which is provided as a parameter to the xacro macro.
+
+A separate YAML file is provided for each IMU sensor. At the moment the supported sensors are:
+
+ * Microstrain 3dm-gx3-25
+
diff --git a/config/realsense_d435_depth_sim_config.yaml b/config/realsense_d435_depth_sim_config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..7611d09221c6441c8f8ff4df013afd45d0ece9bb
--- /dev/null
+++ b/config/realsense_d435_depth_sim_config.yaml
@@ -0,0 +1,21 @@
+rate: 60.0
+horizontal_fov: 1.047
+image_width: 640
+image_height: 480
+image_format: 'R8G8B8'
+clip_near: 0.2
+clip_far: 100.0
+noise_type: 'gaussian'
+noise_mean: 0.0
+noise_stddev: 0.007
+image_topic_name: '/camera/color/image_raw'
+camera_info_topic_name: '/camera/color/camera_info'
+depth_image_topic_name: '/camera/depth/image_rect_raw'
+point_cloud_topic_name: '/camera/depth_registered/points'
+depth_image_camera_info_topic_name: '/camera/depth/camera_info'
+point_cloud_cut_off: 0.4
+hack_baseline: 0.007
+cx_prime: 0.0
+cx: 0.0
+cy: 0.0
+focal_length: 0.0
diff --git a/launch/realsense_d435_depth_sim.launch b/launch/realsense_d435_depth_sim.launch
new file mode 100644
index 0000000000000000000000000000000000000000..178a60c5129c1a35797ad3b99bbe741dbe5f6f19
--- /dev/null
+++ b/launch/realsense_d435_depth_sim.launch
@@ -0,0 +1,34 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<launch>
+
+ <arg name="node_name" default="camera" />
+
+ <!-- We resume the logic in empty_world.launch, changing only the name of the world to be launched -->
+ <include file="$(find gazebo_ros)/launch/empty_world.launch">
+ <arg name="paused" value="false"/>
+ <arg name="use_sim_time" value="true"/>
+ <arg name="extra_gazebo_args" value=""/>
+ <arg name="gui" value="true"/>
+ <arg name="recording" value="false"/>
+ <arg name="headless" value="false"/>
+ <arg name="debug" value="false"/>
+ <arg name="physics" value="ode"/>
+ <arg name="verbose" value="false"/>
+ <arg name="world_name" value="worlds/empty.world"/>
+ <arg name="respawn_gazebo" value="false"/>
+ <arg name="use_clock_frequency" value="false"/>
+ <arg name="pub_clock_frequency" value="100"/>
+ </include>
+
+ <param name="robot_description"
+ command="$(find xacro)/xacro --inorder '$(find iri_realsense_camera_description)/urdf/realsense_example.xacro' name:=$(arg node_name)" />
+
+ <node pkg="robot_state_publisher" type="state_publisher" name="realsense_tf_broadcaster">
+ <param name="tf_prefix" type="string" value="/$(arg node_name)"/>
+ <param name="publish_frequency" type="double" value="20.0"/>
+ </node>
+
+ <node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model" args="-param robot_description -urdf -model realsense_depth -x 0 -y 0 -z 0 -R 0 -P 0 -Y 0" />
+
+</launch>
+
diff --git a/package.xml b/package.xml
new file mode 100644
index 0000000000000000000000000000000000000000..ddd4bd99aa72d808b1bbe42f60eba2782f6005c1
--- /dev/null
+++ b/package.xml
@@ -0,0 +1,59 @@
+<?xml version="1.0"?>
+<package format="2">
+ <name>iri_depth_camera_gazebo</name>
+ <version>0.0.0</version>
+ <description>The iri_depth_camera_gazebo package</description>
+
+ <!-- One maintainer tag required, multiple allowed, one person per tag -->
+ <!-- Example: -->
+ <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
+ <maintainer email="labrobotica@iri.upc.edu">labrobotica</maintainer>
+
+
+ <!-- One license tag required, multiple allowed, one license per tag -->
+ <!-- Commonly used license strings: -->
+ <!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+ <license>LGPL</license>
+
+
+ <!-- Url tags are optional, but multiple are allowed, one per tag -->
+ <!-- Optional attribute type can be: website, bugtracker, or repository -->
+ <!-- Example: -->
+ <!-- <url type="website">http://wiki.ros.org/iri_depth_camera_gazebo</url> -->
+
+
+ <!-- Author tags are optional, multiple are allowed, one per tag -->
+ <!-- Authors do not have to be maintainers, but could be -->
+ <!-- Example: -->
+ <author email="labrobotica@iri.upc.edu">labrobotica</author>
+
+
+ <!-- The *depend tags are used to specify dependencies -->
+ <!-- Dependencies can be catkin packages or system dependencies -->
+ <!-- Examples: -->
+ <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
+ <!-- <depend>roscpp</depend> -->
+ <!-- Note that this is equivalent to the following: -->
+ <!-- <build_depend>roscpp</build_depend> -->
+ <!-- <exec_depend>roscpp</exec_depend> -->
+ <!-- Use build_depend for packages you need at compile time: -->
+ <!-- <build_depend>message_generation</build_depend> -->
+ <!-- Use build_export_depend for packages you need in order to build against this package: -->
+ <!-- <build_export_depend>message_generation</build_export_depend> -->
+ <!-- Use buildtool_depend for build tool packages: -->
+ <!-- <buildtool_depend>catkin</buildtool_depend> -->
+ <!-- Use exec_depend for packages you need at runtime: -->
+ <!-- <exec_depend>message_runtime</exec_depend> -->
+ <!-- Use test_depend for packages you need only for testing: -->
+ <!-- <test_depend>gtest</test_depend> -->
+ <!-- Use doc_depend for packages you need only for building documentation: -->
+ <!-- <doc_depend>doxygen</doc_depend> -->
+ <buildtool_depend>catkin</buildtool_depend>
+ <depend>iri_realsense_depth_description</depend>
+
+ <!-- The export tag contains other, unspecified, tags -->
+ <export>
+ <!-- Other tools can request additional information be placed here -->
+
+ </export>
+</package>
diff --git a/urdf/realsense.gazebo b/urdf/realsense.gazebo
new file mode 100644
index 0000000000000000000000000000000000000000..6a38ede747953bf486d6d35d02a789fdbbe3425c
--- /dev/null
+++ b/urdf/realsense.gazebo
@@ -0,0 +1,57 @@
+<?xml version="1.0"?>
+<root xmlns:xacro="http://ros.org/wiki/xacro">
+ <xacro:macro name="iri_depth_camera_gazebo" params="name config">
+
+ <xacro:property name="properties" value="${load_yaml(config)}"/>
+
+ <gazebo reference="${name}_link">
+ <sensor type="depth" name="${name}">
+ <always_on>1</always_on>
+ <visualize>true</visualize>
+ <update_rate>${properties['rate']}</update_rate>
+ <camera>
+ <horizontal_fov>${properties['horizontal_fov']}</horizontal_fov>
+ <image>
+ <width>${properties['image_width']}</width>
+ <height>${properties['image_height']}</height>
+ <format>${properties['image_format']}</format>
+ </image>
+ <depth_camera>
+ </depth_camera>
+ <clip>
+ <near>${properties['clip_near']}</near>
+ <far>${properties['clip_far']}</far>
+ </clip>
+ <noise>
+ <type>${properties['noise_type']}</type>
+ <mean>${properties['noise_mean']}</mean>
+ <stddev>${properties['noise_stddev']}</stddev>
+ </noise>
+ </camera>
+ <plugin name="${name}_controller" filename="libgazebo_ros_openni_kinect.so">
+ <alwaysOn>true</alwaysOn>
+ <updateRate>${properties['rate']}</updateRate>
+ <cameraName>${name}</cameraName>
+ <frameName>${name}_color_optical_frame</frameName>
+ <imageTopicName>${properties['image_topic_name']}</imageTopicName>
+ <cameraInfoTopicName>${properties['camera_info_topic_name']}</cameraInfoTopicName>
+ <depthImageTopicName>${properties['depth_image_topic_name']}</depthImageTopicName>
+ <pointCloudTopicName>${properties['point_cloud_topic_name']}</pointCloudTopicName>
+ <depthImageCameraInfoTopicName>${properties['depth_image_camera_info_topic_name']}</depthImageCameraInfoTopicName>
+ <pointCloudCutoff>${properties['point_cloud_cut_off']}</pointCloudCutoff>
+ <hackBaseline>${properties['hack_baseline']}</hackBaseline>
+ <CxPrime>${properties['cx_prime']}</CxPrime>
+ <Cx>${properties['cx']}</Cx>
+ <Cy>${properties['cy']}</Cy>
+ <focalLength>${properties['focal_length']}</focalLength>
+ <noise>
+ <type>${properties['noise_type']}</type>
+ <mean>${properties['noise_mean']}</mean>
+ <stddev>${properties['noise_stddev']}</stddev>
+ </noise>
+ </plugin>
+ </sensor>
+ </gazebo>
+ </xacro:macro>
+</root>
+