<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
    <xacro:include filename="$(find realsense2_description)/urdf/_d435i.urdf.xacro"/>
    <xacro:sensor_d435i parent="pedestal_link" use_nominal_extrinsics="true">
        <origin xyz="0.0 -0.025 0.995216" rpy="0.0 ${80 * 2.0 * pi / 360.0} ${-pi/2.0}"/>
    </xacro:sensor_d435i>

</robot>
