diff --git a/urdf/realsense.xacro b/urdf/realsense.xacro
index 2dbe1e7431c4da0471362d1868dbaa2c722ff59b..f90810f353dc37ae695f39867aa6a5fffff0432c 100644
--- a/urdf/realsense.xacro
+++ b/urdf/realsense.xacro
@@ -6,9 +6,10 @@
 
   <xacro:macro name="realsense_depth" params="parent model *origin sim_config">
 
+    <xacro:arg name="use_nominal_extrinsics" default="True" />
     <xacro:if value="${model == 'd435'}">
       <xacro:include filename="$(find realsense2_description)/urdf/_d435.urdf.xacro"/>
-      <sensor_d435 parent="${parent}">
+      <sensor_d435 parent="${parent}" >
         <xacro:insert_block name="origin"/>
       </sensor_d435>
     </xacro:if>