diff --git a/urdf/realsense.xacro b/urdf/realsense.xacro
index 962696fd77bd34d62118800254cc9404f845e6cd..12657398999e7485eb55c36c050c94c3d5a729ce 100644
--- a/urdf/realsense.xacro
+++ b/urdf/realsense.xacro
@@ -12,7 +12,7 @@
       <xacro:if value="${first == 'true'}">
         <xacro:include filename="$(find realsense2_description)/urdf/_d435.urdf.xacro"/>
       </xacro:if>
-      <sensor_d435 parent="${parent}" name="${name}">
+      <sensor_d435 parent="${parent}" name="${name}" use_nominal_extrinsics="$(arg use_nominal_extrinsics)">
         <xacro:insert_block name="origin"/>
       </sensor_d435>
     </xacro:if>
@@ -21,7 +21,7 @@
       <xacro:if value="${first == 'true'}">
         <xacro:include filename="$(find realsense2_description)/urdf/_r410.urdf.xacro"/>
       </xacro:if>
-      <sensor_r410 parent="${parent}" name="${name}">
+      <sensor_r410 parent="${parent}" name="${name}" use_nominal_extrinsics="$(arg use_nominal_extrinsics)">
         <xacro:insert_block name="origin"/>
       </sensor_r410>
     </xacro:if>
@@ -30,7 +30,7 @@
       <xacro:if value="${first == 'true'}">
         <xacro:include filename="$(find realsense2_description)/urdf/_r430.urdf.xacro"/>
       </xacro:if>
-      <sensor_r430 parent="${parent}" name="${name}">
+      <sensor_r430 parent="${parent}" name="${name}" use_nominal_extrinsics="$(arg use_nominal_extrinsics)">
         <xacro:insert_block name="origin"/>
       </sensor_r430>
     </xacro:if>
diff --git a/urdf/realsense_d435.xacro b/urdf/realsense_d435.xacro
index ba3d9ca80a6009c62c3c8e95f85059eb6f0c0c21..d83810f040fc697f0367f0091beed5bb7d26b920 100644
--- a/urdf/realsense_d435.xacro
+++ b/urdf/realsense_d435.xacro
@@ -8,7 +8,7 @@
   <xacro:macro name="realsense_d435_depth" params="parent name:=camera *origin sim_config">
 
     <xacro:arg name="use_nominal_extrinsics" default="True" />
-    <sensor_d435 parent="${parent}" name="${name}">
+    <sensor_d435 parent="${parent}" name="${name}" use_nominal_extrinsics="$(arg use_nominal_extrinsics)">
       <xacro:insert_block name="origin"/>
     </sensor_d435>
 
diff --git a/urdf/realsense_r410.xacro b/urdf/realsense_r410.xacro
index 52cd76dce7f1c083db3294860a68a83436fc4227..7d70aa2e5f5bc4cc58ba3882084cdbe461b9ccae 100644
--- a/urdf/realsense_r410.xacro
+++ b/urdf/realsense_r410.xacro
@@ -8,7 +8,7 @@
   <xacro:macro name="realsense_r410_depth" params="parent model *origin sim_config">
 
     <xacro:arg name="use_nominal_extrinsics" default="True" />
-    <sensor_r410 parent="${parent}" name="${name}">
+    <sensor_r410 parent="${parent}" name="${name}" use_nominal_extrinsics="$(arg use_nominal_extrinsics)">
       <xacro:insert_block name="origin"/>
     </sensor_r410>
 
diff --git a/urdf/realsense_r430.xacro b/urdf/realsense_r430.xacro
index 4d6ca84f10e7f47cc3a2ad4d032edf0b2bf6b4c2..768d9bdd14187226c98f6685eead728f766f9374 100644
--- a/urdf/realsense_r430.xacro
+++ b/urdf/realsense_r430.xacro
@@ -8,7 +8,7 @@
   <xacro:macro name="realsense_r430_depth" params="parent model *origin sim_config">
 
     <xacro:arg name="use_nominal_extrinsics" default="True" />
-    <sensor_r430 parent="${parent}" name="${name}">
+    <sensor_r430 parent="${parent}" name="${name}" use_nominal_extrinsics="$(arg use_nominal_extrinsics)">
       <xacro:insert_block name="origin"/>
     </sensor_r430>