diff --git a/urdf/intel_realsense_d435.urdf.xacro b/urdf/intel_realsense_d435.urdf.xacro
index ca1e8ee..743fe5a 100644
--- a/urdf/intel_realsense_d435.urdf.xacro
+++ b/urdf/intel_realsense_d435.urdf.xacro
@@ -24,8 +24,16 @@
             name:=camera
             topic:=camera
             use_nominal_extrinsics:=false
+            namespace:=None
             simulation_engine:=ignition-gazebo">
 
+    <xacro:if value="${namespace == 'None'}">
+      <xacro:property name="ns" value="" />
+    </xacro:if>
+    <xacro:unless value="${namespace == 'None'}">
+        <xacro:property name="ns" value="${namespace}/" />
+    </xacro:unless>
+
     <xacro:if value="${tf_prefix == 'None'}">
       <xacro:property name="prefix" value="" />
     </xacro:if>
@@ -176,11 +184,12 @@
       <!-- It is also possible to use single rgbd_camera sensor, but using separate rgb and depth camera
         should be more accurate for D435 - different frames and fovs can be set -->
       <gazebo reference="${prefix}${name}_link">
-        <sensor type="camera" name="${prefix}${name}_color">
+        <!-- https://github.com/IntelRealSense/realsense-ros#published-topics -->
+        <sensor type="camera" name="${ns}{prefix}${name}_intel_realsense_d435_color">
           <always_on>true</always_on>
           <update_rate>30.0</update_rate>
 
-          <topic>${topic}/color/image_raw</topic>
+          <topic>${ns}${topic}/color/image_raw</topic>
           <visualize>false</visualize>
 
           <ignition_frame_id>${prefix}${name}_color_optical_frame</ignition_frame_id>
@@ -194,13 +203,16 @@
             <near>0.02</near>
             <far>300.0</far>
           </clip>
+          <ros>
+            <namespace>${ns}</namespace>
+          </ros>
         </sensor>
 
-        <sensor type="depth_camera" name="${prefix}${name}_depth">
+        <sensor type="depth_camera" name="${ns}${prefix}${name}_intel_realsense_d435_depth">
           <always_on>true</always_on>
           <update_rate>30.0</update_rate>
 
-          <topic>${topic}/depth</topic>
+          <topic>${ns}${topic}/depth/image_rect_raw</topic>
           <visualize>false</visualize>
 
           <ignition_frame_id>${prefix}${name}_depth_optical_frame</ignition_frame_id>
@@ -221,6 +233,9 @@
               <stddev>0.005</stddev>
             </noise>
           </camera>
+          <ros>
+            <namespace>${ns}</namespace>
+          </ros>
         </sensor>
       </gazebo>
     </xacro:if>
diff --git a/urdf/orbbec_astra.urdf.xacro b/urdf/orbbec_astra.urdf.xacro
index f6f90f8..2927c44 100644
--- a/urdf/orbbec_astra.urdf.xacro
+++ b/urdf/orbbec_astra.urdf.xacro
@@ -94,16 +94,40 @@
 
     <xacro:if value="${simulation_engine == 'ignition-gazebo'}">
       <gazebo reference="${prefix}${camera_name}_orbbec_astra_link">
-        <sensor type="rgbd_camera" name="${prefix}${camera_name}_orbbec_astra_camera">
+        <!-- https://github.com/orbbec/OrbbecSDK_ROS2#all-available-topics -->
+        <sensor type="camera" name="${ns}{prefix}${camera_name}_orbbec_astra_color">
           <always_on>true</always_on>
-          <update_rate>20.0</update_rate>
+          <update_rate>30.0</update_rate>
+
+          <topic>${ns}${camera_name}/color/image_raw</topic>
+          <visualize>false</visualize>
+
+          <ignition_frame_id>${prefix}${camera_name}_color_optical_frame</ignition_frame_id>
+          <horizontal_fov>${60.0/180.0*pi}</horizontal_fov>
+          <image>
+            <width>640</width>
+            <height>480</height>
+          </image>
+
+          <clip>
+            <near>0.6</near>
+            <far>8.0</far>
+          </clip>
+          <ros>
+            <namespace>${ns}</namespace>
+          </ros>
+        </sensor>
 
-          <topic>${ns}${camera_name}</topic>
-          <!-- It is not possible to split the frame of the color and the depth stream.
-               The frame of color stream should be ${prefix}${camera_name}_color_optical_frame -->
-          <ignition_frame_id>${prefix}${camera_name}_depth_optical_frame</ignition_frame_id>
+        <sensor type="depth_camera" name="${ns}${prefix}${camera_name}_orbbec_astra_depth">
+          <always_on>true</always_on>
+          <update_rate>10.0</update_rate>
 
-          <camera name="${prefix}camera">
+
+          <topic>${ns}${camera_name}/depth/image_raw</topic>
+          <visualize>false</visualize>
+
+          <ignition_frame_id>${prefix}${camera_name}_depth_optical_frame</ignition_frame_id>
+          <camera>
             <horizontal_fov>${60.0/180.0*pi}</horizontal_fov>
             <image>
               <width>640</width>
@@ -114,6 +138,11 @@
               <near>0.6</near>
               <far>8.0</far>
             </clip>
+            <noise>
+              <type>gaussian</type>
+              <mean>0.0</mean>
+              <stddev>0.005</stddev>
+            </noise>
           </camera>
           <ros>
             <namespace>${ns}</namespace>
diff --git a/urdf/slamtec_rplidar_s3.urdf.xacro b/urdf/slamtec_rplidar_s3.urdf.xacro
index a86d810..92866c1 100644
--- a/urdf/slamtec_rplidar_s3.urdf.xacro
+++ b/urdf/slamtec_rplidar_s3.urdf.xacro
@@ -112,10 +112,10 @@
           </ray>
           <always_on>1</always_on>
           <visualize>false</visualize>
+          <ros>
+            <namespace>${ns}</namespace>
+          </ros>
         </sensor>
-        <ros>
-          <namespace>${ns}</namespace>
-        </ros>
       </gazebo>
     </xacro:if>
 
diff --git a/urdf/stereolabs_zed.urdf.xacro b/urdf/stereolabs_zed.urdf.xacro
index 288d81f..7971d70 100644
--- a/urdf/stereolabs_zed.urdf.xacro
+++ b/urdf/stereolabs_zed.urdf.xacro
@@ -22,12 +22,18 @@
   <xacro:macro name="zed_camera"
     params="parent_link xyz rpy
     model:=zed
+    namespace:=None
     tf_prefix:=None
     name:=camera
-    topic:=camera
-    use_nominal_extrinsics:=false
     simulation_engine:=ignition-gazebo">
 
+    <xacro:if value="${namespace == 'None'}">
+      <xacro:property name="ns" value="" />
+    </xacro:if>
+    <xacro:unless value="${namespace == 'None'}">
+      <xacro:property name="ns" value="${namespace}/" />
+    </xacro:unless>
+
     <xacro:if value="${tf_prefix == 'None'}">
       <xacro:property name="prefix" value="" />
     </xacro:if>
@@ -85,10 +91,10 @@
     </xacro:if>
 
     <!-- Camera mounting point (the threaded screw hole in the bottom) -->
-    <link name="${prefix}${name}_link" />
+    <link name="${prefix}${name}_camera_link" />
     <joint name="${prefix}${name}_base_joint" type="fixed">
       <parent link="${parent_link}" />
-      <child link="${prefix}${name}_link" />
+      <child link="${prefix}${name}_camera_link" />
       <origin xyz="${xyz}" rpy="${rpy}" />
     </joint>
 
@@ -183,11 +189,11 @@
       camera
         should be more accurate different frames and fovs can be set -->
       <gazebo reference="${prefix}${name}_center_optical_frame">
-        <sensor type="camera" name="${prefix}${name}_color">
+        <sensor type="camera" name="${ns}${prefix}${name}_stereolabs_zed_color">
           <always_on>true</always_on>
           <update_rate>30.0</update_rate>
 
-          <topic>${model}/zed_node/rgb/image_rect_color</topic>
+          <topic>${ns}${prefix}${name}/zed_node/rgb/image_rect_color</topic>
           <visualize>false</visualize>
 
           <ignition_frame_id>${prefix}${name}_center_optical_frame</ignition_frame_id>
@@ -203,13 +209,16 @@
               <far>300.0</far>
             </clip>
           </camera>
+          <ros>
+            <namespace>${ns}</namespace>
+          </ros>
         </sensor>
 
-        <sensor type="depth_camera" name="${prefix}${name}_depth">
+        <sensor type="depth_camera" name="${ns}${prefix}${name}_stereolabs_zed_depth">
           <always_on>true</always_on>
           <update_rate>30.0</update_rate>
 
-          <topic>${model}/zed_node/depth</topic>
+          <topic>${ns}${prefix}${name}/zed_node/depth</topic>
           <visualize>false</visualize>
 
           <ignition_frame_id>${prefix}${name}_center_optical_frame</ignition_frame_id>
@@ -229,6 +238,9 @@
               <stddev>0.03</stddev>
             </noise>
           </camera>
+          <ros>
+            <namespace>${ns}</namespace>
+          </ros>
         </sensor>
       </gazebo>
     </xacro:if>
diff --git a/urdf/velodyne_puck.urdf.xacro b/urdf/velodyne_puck.urdf.xacro
index e2a1f0a..a61c2e6 100644
--- a/urdf/velodyne_puck.urdf.xacro
+++ b/urdf/velodyne_puck.urdf.xacro
@@ -6,8 +6,16 @@
                        tf_prefix:=None
                        topic:=scan
                        frame_id:=velodyne
+                       namespace:=None
                        simulation_engine:=gazebo-classic">
 
+    <xacro:if value="${namespace == 'None'}">
+      <xacro:property name="ns" value="" />
+    </xacro:if>
+    <xacro:unless value="${namespace == 'None'}">
+      <xacro:property name="ns" value="${namespace}/" />
+    </xacro:unless>
+
     <xacro:if value="${use_gpu}">
       <xacro:property name="ray_type" value="gpu_ray" />
       <xacro:property name="plugin_file_name" value="libgazebo_ros_velodyne_gpu_laser.so" />
@@ -64,7 +72,7 @@
     <link name="${prefix}${frame_id}" />
 
     <gazebo reference="${prefix}${frame_id}">
-      <sensor type="${ray_type}" name="${prefix}velodyne_puck_sensor">
+      <sensor type="${ray_type}" name="${ns}${prefix}velodyne_puck_sensor">
         <visualize>false</visualize>
         <update_rate>10.0</update_rate>
 
@@ -96,14 +104,10 @@
         </ray>
 
         <xacro:if value="${simulation_engine == 'ignition-gazebo'}">
-          <topic>${topic}</topic>
+          <topic>${ns}${topic}</topic>
           <frame_id>${prefix}${frame_id}</frame_id>
           <ignition_frame_id>${prefix}${frame_id}</ignition_frame_id>
           <always_on>true</always_on>
-          <plugin filename="libignition-gazebo-sensors-system.so"
-            name="ignition::gazebo::systems::Sensors">
-            <render_engine>ogre2</render_engine>
-          </plugin>
         </xacro:if>
 
         <xacro:if value="${simulation_engine == 'gazebo-classic'}">
@@ -117,7 +121,9 @@
             <frame_name>${prefix}${frame_id}</frame_name>
           </plugin>
         </xacro:if>
-
+        <ros>
+          <namespace>${ns}</namespace>
+        </ros>
       </sensor>
     </gazebo>
   </xacro:macro>