How to integrate a Realsense d435 camera to an existing drone?

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I've found this this xacro . If i load it with this launch file it works.

But when i try to implement it in hector, it does not work correctly (rather, i cannot make it work).Maybe you could help with that?

So this is my launch file:

<launch>
  <include file="$(find hector_gazebo_worlds)/launch/world.launch"/>

  <!-- Spawn the hector_drone -->
  <include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch" >
    <arg name="model" value="$(find hector_quadrotor_description)/urdf/hector_with_d435.gazebo.xacro"/>

<!-- Start rviz visualization with preset config -->
  <node pkg="rviz" type="rviz" name="rviz" args="-d $(find hector_quadrotor_demo)/rviz_cfg/d435.rviz"/>
   </launch>

So inside the hector_with_d435.gazebo.xacro i called the _d435.urdf.xacro as you said:

<xacro:include filename="$(find realsense2_description)/urdf/_d435.urdf.xacro" />
 <xacro:sensor_d435 name="camera" parent="base_link">
      <origin xyz="0.1 0.0 -0.03" rpy="0 0 0"/>
    </xacro:sensor_d435>

It launches the world with hector and the camera, but there is nothing on the sensors. It shows this error:

For frame [camera_depth_optical_frame]: Frame [camera_depth_optical_frame] does not exist. And the same for the rest of the topics

I definitely would expect it to work. Just so we're on the same page, could you either clarify what you mean by "It shows this error:" What is "it" in this regard? Also what do you mean with "the same for the rest of the topics?"

As for your launch file, the only thing I can imagine is that you don't actually close your <include>. Although to be honest it's been too long since I've worked with ROS1 so I'm not sure if it's necessary. Could you add </include> after your arg just for my peace of mind?

Unfortunately the include isnt the problem.

When i open rviz and go to Image topics such as Depth , Rbg and the Point cloud, it shows there is no connected frame.

Also, when i execute the command rosrun rqt_tf tree rqt_tf tree, after the camera_link nothing appears. So the urdf just places the csmera there but nothing from the actual sensors.

Could you edit your original question to add a screenshot of RViz and a screenshot of rqt_tf? Then I can look at it tomorrow, you should have enough karma to add images.

I was just about to output the rqt_tf_tree as you asked but your solution worked! Thank you so much for this Joe!!!