diff --git a/urdf/realsense_d435.xacro b/urdf/realsense_d435.xacro
index d83810f040fc697f0367f0091beed5bb7d26b920..f272eb5f44ef4243ac974edb770a077240caa25d 100644
--- a/urdf/realsense_d435.xacro
+++ b/urdf/realsense_d435.xacro
@@ -8,9 +8,9 @@
   <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}" use_nominal_extrinsics="$(arg use_nominal_extrinsics)">
+    <xacro:sensor_d435 parent="${parent}" name="${name}" use_nominal_extrinsics="$(arg use_nominal_extrinsics)">
       <xacro:insert_block name="origin"/>
-    </sensor_d435>
+    </xacro:sensor_d435>
 
     <xacro:realsense_depth_gazebo name="${name}" sim_config="${sim_config}"/>
 
diff --git a/urdf/realsense_r410.xacro b/urdf/realsense_r410.xacro
index 7d70aa2e5f5bc4cc58ba3882084cdbe461b9ccae..62d6d4643f1971c431ba4d60772ffb3350a6f1f1 100644
--- a/urdf/realsense_r410.xacro
+++ b/urdf/realsense_r410.xacro
@@ -8,9 +8,9 @@
   <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}" use_nominal_extrinsics="$(arg use_nominal_extrinsics)">
+    <xacro:sensor_r410 parent="${parent}" name="${name}" use_nominal_extrinsics="$(arg use_nominal_extrinsics)">
       <xacro:insert_block name="origin"/>
-    </sensor_r410>
+    </xacro:sensor_r410>
 
     <xacro:realsense_depth_gazebo name="${name}" sim_config="${sim_config}"/>
 
diff --git a/urdf/realsense_r430.xacro b/urdf/realsense_r430.xacro
index 768d9bdd14187226c98f6685eead728f766f9374..e768d596d531380fbb3f2c700b242b99b6bc7d14 100644
--- a/urdf/realsense_r430.xacro
+++ b/urdf/realsense_r430.xacro
@@ -8,9 +8,9 @@
   <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}" use_nominal_extrinsics="$(arg use_nominal_extrinsics)">
+    <xacro:sensor_r430 parent="${parent}" name="${name}" use_nominal_extrinsics="$(arg use_nominal_extrinsics)">
       <xacro:insert_block name="origin"/>
-    </sensor_r430>
+    </xacro:sensor_r430>
 
     <xacro:realsense_depth_gazebo name="${name}" sim_config="${sim_config}"/>