diff --git a/rcdt_utilities/CMakeLists.txt b/rcdt_utilities/CMakeLists.txt
index 02fb9ea..92ebc08 100644
--- a/rcdt_utilities/CMakeLists.txt
+++ b/rcdt_utilities/CMakeLists.txt
@@ -19,7 +19,7 @@ find_package(tf2_eigen REQUIRED)
 # Install project files
 install(
   DIRECTORY
-  launch rviz
+  launch rviz urdf sdf
   DESTINATION share/${PROJECT_NAME}
 )
 
diff --git a/rcdt_utilities/launch/gazebo_robot.launch.py b/rcdt_utilities/launch/gazebo_robot.launch.py
index 6b5c45a..8c48692 100644
--- a/rcdt_utilities/launch/gazebo_robot.launch.py
+++ b/rcdt_utilities/launch/gazebo_robot.launch.py
@@ -2,36 +2,71 @@
 #
 # SPDX-License-Identifier: Apache-2.0
 
-from launch.actions import IncludeLaunchDescription
-from launch import LaunchDescription
+from typing import List
+
+from launch import LaunchContext, LaunchDescription
+from launch.actions import IncludeLaunchDescription, OpaqueFunction
 from launch_ros.actions import Node
-from rcdt_utilities.launch_utils import get_file_path
+from rcdt_utilities.launch_utils import LaunchArgument, get_file_path
+
+load_gazebo_ui_arg = LaunchArgument("load_gazebo_ui", False, [True, False])
+world_arg = LaunchArgument("world", "")
+use_realsense_arg = LaunchArgument("realsense", False, [True, False])
+
+
+def launch_setup(context: LaunchContext) -> List:
+    load_gazebo_ui = load_gazebo_ui_arg.value(context)
+    world = world_arg.value(context)
+    use_realsense = use_realsense_arg.value(context)
+
+    if world == "":
+        world = get_file_path("rcdt_utilities", ["sdf"], "empty.xml.sdf")
 
-gazebo = IncludeLaunchDescription(
-    get_file_path("ros_gz_sim", ["launch"], "gz_sim.launch.py"),
-    launch_arguments={"gz_args": "empty.sdf -r"}.items(),
-)
+    gz_args = f" -r {world}"
+    if not load_gazebo_ui:
+        gz_args += " -s"
+    gazebo = IncludeLaunchDescription(
+        get_file_path("ros_gz_sim", ["launch"], "gz_sim.launch.py"),
+        launch_arguments={"gz_args": gz_args}.items(),
+    )
+
+    spawn_robot = Node(
+        package="ros_gz_sim",
+        executable="create",
+        arguments=["-topic", "/robot_description"],
+        output="screen",
+    )
 
-spawn_robot = Node(
-    package="ros_gz_sim",
-    executable="create",
-    arguments=["-topic", "/robot_description"],
-    output="screen",
-)
+    bridge_topics = ["/clock@rosgraph_msgs/msg/Clock[ignition.msgs.Clock"]
+    if use_realsense:
+        bridge_topics.extend(
+            [
+                "/camera/color/camera_info@sensor_msgs/msg/CameraInfo@gz.msgs.CameraInfo",
+                "/camera/color/image_raw@sensor_msgs/msg/Image@gz.msgs.Image",
+                "/camera/depth/camera_info@sensor_msgs/msg/CameraInfo@gz.msgs.CameraInfo",
+                "/camera/depth/image_rect_raw@sensor_msgs/msg/Image@gz.msgs.Image",
+            ]
+        )
+
+    bridge = Node(
+        package="ros_gz_bridge",
+        executable="parameter_bridge",
+        arguments=bridge_topics,
+    )
 
-sync_clock = Node(
-    package="ros_gz_bridge",
-    executable="parameter_bridge",
-    name="sync_clock",
-    arguments=["/clock@rosgraph_msgs/msg/Clock[gz.msgs.Clock"],
-)
+    return [
+        gazebo,
+        spawn_robot,
+        bridge,
+    ]
 
 
 def generate_launch_description() -> LaunchDescription:
     return LaunchDescription(
         [
-            gazebo,
-            spawn_robot,
-            sync_clock,
+            load_gazebo_ui_arg.declaration,
+            world_arg.declaration,
+            use_realsense_arg.declaration,
+            OpaqueFunction(function=launch_setup),
         ]
     )
diff --git a/rcdt_utilities/rviz/realsense.rviz b/rcdt_utilities/rviz/realsense.rviz
new file mode 100644
index 0000000..3ee20b0
--- /dev/null
+++ b/rcdt_utilities/rviz/realsense.rviz
@@ -0,0 +1,307 @@
+# SPDX-FileCopyrightText: Alliander N. V.
+#
+# SPDX-License-Identifier: Apache-2.0
+
+Panels:
+  - Class: rviz_common/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /Status1
+      Splitter Ratio: 0.5
+    Tree Height: 352
+  - Class: rviz_common/Selection
+    Name: Selection
+  - Class: rviz_common/Tool Properties
+    Expanded:
+      - /2D Goal Pose1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz_common/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz_common/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: ""
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz_default_plugins/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Alpha: 1
+      Class: rviz_default_plugins/RobotModel
+      Collision Enabled: false
+      Description File: ""
+      Description Source: Topic
+      Description Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /robot_description
+      Enabled: true
+      Links:
+        All Links Enabled: true
+        Expand Joint Details: false
+        Expand Link Details: false
+        Expand Tree: false
+        Link Tree Style: Links in Alphabetic Order
+        camera_bottom_screw_frame:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        camera_color_frame:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        camera_color_optical_frame:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        camera_depth_frame:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        camera_depth_optical_frame:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        camera_infra1_frame:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        camera_infra1_optical_frame:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        camera_infra2_frame:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        camera_infra2_optical_frame:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        camera_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        fr3_hand:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        fr3_hand_tcp:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        fr3_leftfinger:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        fr3_link0:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        fr3_link1:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        fr3_link2:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        fr3_link3:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        fr3_link4:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        fr3_link5:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        fr3_link6:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        fr3_link7:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        fr3_link8:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        fr3_rightfinger:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        realsense_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        world:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+      Mass Properties:
+        Inertia: false
+        Mass: false
+      Name: RobotModel
+      TF Prefix: ""
+      Update Interval: 0
+      Value: true
+      Visual Enabled: true
+    - Class: rviz_default_plugins/Image
+      Enabled: true
+      Max Value: 1
+      Median window: 5
+      Min Value: 0
+      Name: Color
+      Normalize Range: true
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /camera/color/image_raw
+      Value: true
+    - Class: rviz_default_plugins/Image
+      Enabled: true
+      Max Value: 1
+      Median window: 5
+      Min Value: 0
+      Name: Depth
+      Normalize Range: true
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /camera/depth/image_rect_raw
+      Value: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Fixed Frame: world
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz_default_plugins/Interact
+      Hide Inactive Objects: true
+    - Class: rviz_default_plugins/MoveCamera
+    - Class: rviz_default_plugins/Select
+    - Class: rviz_default_plugins/FocusCamera
+    - Class: rviz_default_plugins/Measure
+      Line color: 128; 128; 0
+    - Class: rviz_default_plugins/SetInitialPose
+      Covariance x: 0.25
+      Covariance y: 0.25
+      Covariance yaw: 0.06853891909122467
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /initialpose
+    - Class: rviz_default_plugins/SetGoal
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /goal_pose
+    - Class: rviz_default_plugins/PublishPoint
+      Single click: true
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /clicked_point
+  Transformation:
+    Current:
+      Class: rviz_default_plugins/TF
+  Value: true
+  Views:
+    Current:
+      Class: rviz_default_plugins/Orbit
+      Distance: 3.2032787799835205
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: 0.030398249626159668
+        Y: -0.048146918416023254
+        Z: 0.40179479122161865
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.2703982889652252
+      Target Frame: <Fixed Frame>
+      Value: Orbit (rviz)
+      Yaw: 0.690392792224884
+    Saved: ~
+Window Geometry:
+  Color:
+    collapsed: false
+  Depth:
+    collapsed: false
+  Displays:
+    collapsed: false
+  Height: 1043
+  Hide Left Dock: false
+  Hide Right Dock: false
+  QMainWindow State: 000000ff00000000fd00000004000000000000015600000379fc020000000afb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f0070006500720074006900650073020000072c000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b000001e9000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a00440065007000740068010000022a000000d90000002800fffffffb0000000a0043006f006c006f00720100000309000000ab0000002800ffffff000000010000010f00000379fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003b00000379000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007800000003efc0100000002fb0000000800540069006d00650100000000000007800000025300fffffffb0000000800540069006d006501000000000000045000000000000000000000050f0000037900000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 1920
+  X: 305
+  Y: 0
diff --git a/rcdt_utilities/sdf/empty.xml.sdf b/rcdt_utilities/sdf/empty.xml.sdf
new file mode 100644
index 0000000..c148ffc
--- /dev/null
+++ b/rcdt_utilities/sdf/empty.xml.sdf
@@ -0,0 +1,76 @@
+<?xml version="1.0"?>
+<!--
+SPDX-FileCopyrightText: Alliander N. V.
+
+SPDX-License-Identifier: Apache-2.0
+-->
+<sdf version="1.6">
+  <world name="empty">
+    <physics name="1ms" type="ignored">
+      <max_step_size>0.001</max_step_size>
+      <real_time_factor>1.0</real_time_factor>
+    </physics>
+    <plugin
+      filename="ignition-gazebo-physics-system"
+      name="gz::sim::systems::Physics">
+    </plugin>
+    <plugin
+      filename="ignition-gazebo-user-commands-system"
+      name="gz::sim::systems::UserCommands">
+    </plugin>
+    <plugin
+      filename="ignition-gazebo-scene-broadcaster-system"
+      name="gz::sim::systems::SceneBroadcaster">
+    </plugin>
+    <plugin
+      filename="ignition-gazebo-contact-system"
+      name="gz::sim::systems::Contact">
+    </plugin>
+    <plugin
+      filename="ignition-gazebo-sensors-system"
+      name="gz::sim::systems::Sensors">
+    </plugin>
+
+    <light type="directional" name="sun">
+      <cast_shadows>true</cast_shadows>
+      <pose>0 0 10 0 0 0</pose>
+      <diffuse>0.8 0.8 0.8 1</diffuse>
+      <specular>0.2 0.2 0.2 1</specular>
+      <attenuation>
+        <range>1000</range>
+        <constant>0.9</constant>
+        <linear>0.01</linear>
+        <quadratic>0.001</quadratic>
+      </attenuation>
+      <direction>-0.5 0.1 -0.9</direction>
+    </light>
+
+    <model name="ground_plane">
+      <static>true</static>
+      <link name="link">
+        <collision name="collision">
+          <geometry>
+            <plane>
+              <normal>0 0 1</normal>
+              <size>100 100</size>
+            </plane>
+          </geometry>
+        </collision>
+        <visual name="visual">
+          <geometry>
+            <plane>
+              <normal>0 0 1</normal>
+              <size>100 100</size>
+            </plane>
+          </geometry>
+          <material>
+            <ambient>0.8 0.8 0.8 1</ambient>
+            <diffuse>0.8 0.8 0.8 1</diffuse>
+            <specular>0.8 0.8 0.8 1</specular>
+          </material>
+        </visual>
+      </link>
+    </model>
+
+  </world>
+</sdf>
\ No newline at end of file
diff --git a/rcdt_utilities/urdf/rcdt_realsense_d435.urdf.xacro b/rcdt_utilities/urdf/rcdt_realsense_d435.urdf.xacro
new file mode 100644
index 0000000..8e7fd79
--- /dev/null
+++ b/rcdt_utilities/urdf/rcdt_realsense_d435.urdf.xacro
@@ -0,0 +1,84 @@
+<?xml version='1.0' encoding='utf-8'?>
+<!--
+SPDX-FileCopyrightText: Alliander N. V.
+
+SPDX-License-Identifier: Apache-2.0
+-->
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="rcdt_realsense_d435">
+  <xacro:macro name="rcdt_realsense_d435"
+    params="
+    gazebo:=true
+    parent:=world
+    namespace:=camera
+    ">
+
+    <!-- Create world link if this is the parent: -->
+    <xacro:if value="${parent == 'world'}">
+      <link name="${parent}" />
+    </xacro:if>
+
+    <!-- Include realsense xacro: -->
+    <xacro:include filename="$(find realsense2_description)/urdf/_d435.urdf.xacro" />
+    <xacro:sensor_d435
+      parent="${parent}"
+      use_nominal_extrinsics="true">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+    </xacro:sensor_d435>
+
+    <!-- Add gazebo plugin: -->
+    <xacro:if value="${gazebo}">
+      <gazebo reference="${namespace}_link">
+
+        <!-- rgb_camera: -->
+        <sensor type="camera" name="${namespace}_intel_realsense_d435_color">
+          <always_on>true</always_on>
+          <update_rate>30.0</update_rate>
+
+          <topic>${namespace}/color/image_raw</topic>
+          <visualize>false</visualize>
+
+          <ignition_frame_id>${namespace}_color_optical_frame</ignition_frame_id>
+          <horizontal_fov>${69.0/180.0*pi}</horizontal_fov>
+          <image>
+            <width>1280</width>
+            <height>720</height>
+            <format>R8G8B8</format>
+          </image>
+          <clip>
+            <near>0.02</near>
+            <far>300.0</far>
+          </clip>
+        </sensor>
+
+        <!-- depth camera -->
+        <sensor type="depth_camera" name="${namespace}_intel_realsense_d435_depth">
+          <always_on>true</always_on>
+          <update_rate>30.0</update_rate>
+
+          <topic>${namespace}/depth/image_rect_raw</topic>
+          <visualize>false</visualize>
+
+          <ignition_frame_id>${namespace}_depth_frame</ignition_frame_id>
+          <camera>
+            <horizontal_fov>${87.0/180.0*pi}</horizontal_fov>
+            <image>
+              <width>1280</width>
+              <height>720</height>
+              <format>R_FLOAT32</format>
+            </image>
+            <clip>
+              <near>0.28</near>
+              <far>8.0</far>
+            </clip>
+            <noise>
+              <type>gaussian</type>
+              <mean>0.0</mean>
+              <stddev>0.005</stddev>
+            </noise>
+          </camera>
+        </sensor>
+
+      </gazebo>
+    </xacro:if>
+  </xacro:macro>
+</robot>
\ No newline at end of file