diff --git a/robotnik_sensors/package.xml b/robotnik_sensors/package.xml
index bb27f7e..3a096bc 100644
--- a/robotnik_sensors/package.xml
+++ b/robotnik_sensors/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>robotnik_sensors</name>
-  <version>2.1.0</version>
+  <version>2.1.1</version>
   <description>Robotnik standard sensors description. URDF and meshses.</description>
 
   <maintainer email="asoriano@robotnik.es">Angel Soriano</maintainer>
diff --git a/robotnik_sensors/urdf/depth/intel_realsense_d435.urdf.xacro b/robotnik_sensors/urdf/depth/intel_realsense_d435.urdf.xacro
index 3533e9d..adbb291 100644
--- a/robotnik_sensors/urdf/depth/intel_realsense_d435.urdf.xacro
+++ b/robotnik_sensors/urdf/depth/intel_realsense_d435.urdf.xacro
@@ -226,5 +226,51 @@
       min_depth="0.1"
       max_depth="100"
       rate="30" />
+    
+    <xacro:irred_camera_plugin
+      node_namespace="${node_namespace}"
+      node_name="${node_name}_irred1"
+      topic_prefix="${topic_prefix}_irred1"
+      gazebo_ignition="${gazebo_ignition}"
+      optical_frame="${frame_prefix}infra1_optical_frame"
+      reference_frame="${frame_prefix}infra2_frame"
+      horizontal_fov="85.2"
+      vertical_fov="48"
+      video_width="1280"
+      video_height="720"
+      min_depth="0.1"
+      max_depth="100"
+      rate="30" />
+
+    <xacro:irred_camera_plugin
+      node_namespace="${node_namespace}"
+      node_name="${node_name}_irred2"
+      topic_prefix="${topic_prefix}_irred2"
+      gazebo_ignition="${gazebo_ignition}"
+      optical_frame="${frame_prefix}infra2_optical_frame"
+      reference_frame="${frame_prefix}infra2_frame"
+      horizontal_fov="85.2"
+      vertical_fov="48"
+      video_width="1280"
+      video_height="720"
+      min_depth="0.1"
+      max_depth="100"
+      rate="30" />
+
+    <xacro:depth_camera_plugin
+      node_namespace="${node_namespace}"
+      node_name="${node_name}_depth"
+      topic_prefix="${topic_prefix}_depth"
+      gazebo_ignition="${gazebo_ignition}"
+      optical_frame="${frame_prefix}depth_optical_frame"
+      reference_frame="${frame_prefix}depth_frame"
+      horizontal_fov="85.2"
+      vertical_fov="48"
+      video_width="1280"
+      video_height="720"
+      min_depth="0.1"
+      max_depth="100"
+      rate="30" />
+      
   </xacro:macro>
 </robot>
diff --git a/robotnik_sensors/urdf/depth/intel_realsense_d435i.urdf.xacro b/robotnik_sensors/urdf/depth/intel_realsense_d435i.urdf.xacro
index df355f8..f1ff266 100644
--- a/robotnik_sensors/urdf/depth/intel_realsense_d435i.urdf.xacro
+++ b/robotnik_sensors/urdf/depth/intel_realsense_d435i.urdf.xacro
@@ -286,32 +286,6 @@
       max_depth="100"
       rate="30" />
 
-    <!-- <gazebo>
-        <plugin name="${node_name}" filename="librealsense_gazebo_plugin.so">
-          <prefix>${node_namespace}</prefix>
-          <depthUpdateRate>60.0</depthUpdateRate>
-          <colorUpdateRate>60.0</colorUpdateRate>
-          <infraredUpdateRate>60.0</infraredUpdateRate>
-          <depthTopicName>${topic_prefix}depth/image_rect_raw</depthTopicName>
-          <depthCameraInfoTopicName>${topic_prefix}depth/camera_info</depthCameraInfoTopicName>
-          <colorTopicName>${topic_prefix}color/image_raw</colorTopicName>
-          <colorCameraInfoTopicName>${topic_prefix}color/camera_info</colorCameraInfoTopicName>
-          <infrared1TopicName>${topic_prefix}infra1/image_raw</infrared1TopicName>
-          <infrared1CameraInfoTopicName>${topic_prefix}infra1/camera_info</infrared1CameraInfoTopicName>
-          <infrared2TopicName>${topic_prefix}infra2/image_raw</infrared2TopicName>
-          <infrared2CameraInfoTopicName>${topic_prefix}infra2/camera_info</infrared2CameraInfoTopicName>
-          <colorOpticalframeName>${frame_prefix}color_optical_frame</colorOpticalframeName>
-          <depthOpticalframeName>${frame_prefix}depth_optical_frame</depthOpticalframeName>
-          <infrared1OpticalframeName>${frame_prefix}infra1_optical_frame</infrared1OpticalframeName>
-          <infrared2OpticalframeName>${frame_prefix}infra2_optical_frame</infrared2OpticalframeName>
-          <rangeMinDepth>0.2</rangeMinDepth>
-          <rangeMaxDepth>10.0</rangeMaxDepth>
-          <pointCloud>true</pointCloud>
-          <pointCloudTopicName>${topic_prefix}depth/color/points</pointCloudTopicName>
-          <pointCloudCutoff>0.5</pointCloudCutoff>
-        </plugin>
-      </gazebo> -->
-
     <!-- Imu -->
 
     <xacro:imu_plugin