diff --git a/src/description/urdf/athena_drive.urdf.xacro b/src/description/urdf/athena_drive.urdf.xacro
index 6a5756f..bc69757 100644
--- a/src/description/urdf/athena_drive.urdf.xacro
+++ b/src/description/urdf/athena_drive.urdf.xacro
@@ -15,6 +15,7 @@
   <xacro:include filename="imu.xacro"/>
   <xacro:include filename="gps.xacro"/>
   <xacro:include filename="ground_truth_odom.xacro"/>
+  <xacro:include filename="depth_camera.xacro"/> 
 
 
   <!-- Load robot's macro with parameters -->
@@ -49,6 +50,10 @@
 
   <xacro:ground_truth_odometry/>
 
+  <xacro:depth_camera parent_link="base_link"> 
+      <origin xyz="0.75 0 -0.37" rpy="0 0 0"/> 
+  </xacro:depth_camera>
+
   <xacro:if value="$(arg use_mock_hardware)">
     <xacro:athena_drive_ros2_control
     name="athena_drive"
@@ -64,4 +69,4 @@
   </xacro:unless>
 
   
-</robot>
\ No newline at end of file
+</robot>
diff --git a/src/description/urdf/depth_camera.xacro b/src/description/urdf/depth_camera.xacro
new file mode 100644
index 0000000..14d6483
--- /dev/null
+++ b/src/description/urdf/depth_camera.xacro
@@ -0,0 +1,68 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
+  
+  <xacro:macro name="depth_camera" params="parent_link *origin">
+    <link name="depth_camera_link">
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <geometry>
+          <box size="0.025 0.09 0.025"/>
+        </geometry>
+        <material name="camera_material">
+          <color rgba="0.1 0.1 0.1 1.0"/>
+        </material>
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <geometry>
+          <box size="0.025 0.09 0.025"/>
+        </geometry>
+      </collision>
+      <inertial>
+        <mass value="0.072"/>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <inertia ixx="0.00001" ixy="0.0" ixz="0.0"
+                 iyy="0.00001" iyz="0.0"
+                 izz="0.00001"/>
+      </inertial>
+    </link>
+    
+    <link name="depth_camera_optical_frame"/>
+    
+    <joint name="depth_camera_joint" type="fixed">
+      <xacro:insert_block name="origin"/>
+      <parent link="${parent_link}"/>
+      <child link="depth_camera_link"/>
+    </joint>
+    
+    <joint name="depth_camera_optical_joint" type="fixed">
+      <origin xyz="0 0 0" rpy="${-pi/2} 0 ${-pi/2}"/>
+      <parent link="depth_camera_link"/>
+      <child link="depth_camera_optical_frame"/>
+    </joint>
+    
+    <gazebo reference="depth_camera_link">
+      <sensor name="depth_camera" type="depth_camera">
+        <always_on>1</always_on>
+        <update_rate>30</update_rate>
+        <topic>depth_camera</topic>
+        <camera name="depth_camera">
+          <horizontal_fov>1.047198</horizontal_fov>
+          <image>
+            <width>640</width>
+            <height>480</height>
+            <format>R_FLOAT32</format>
+          </image>
+          <clip>
+            <near>0.1</near>
+            <far>10.0</far>
+          </clip>
+        </camera>
+        <plugin filename="libgz-sim-sensors-system.so" name="gz::sim::systems::Sensors">
+          <render_engine>ogre2</render_engine>
+        </plugin>
+      </sensor>
+    </gazebo>
+    
+  </xacro:macro>
+</robot>
diff --git a/src/simulation/launch/bridge.launch.py b/src/simulation/launch/bridge.launch.py
index d4ce7a9..60d5040 100644
--- a/src/simulation/launch/bridge.launch.py
+++ b/src/simulation/launch/bridge.launch.py
@@ -23,6 +23,17 @@ def generate_launch_description():
             ],
         ),
 
+        Node(
+            package='ros_gz_bridge',
+            executable='parameter_bridge',
+            name='depth_camera_bridge',
+            output='screen',
+            arguments=[
+                '/depth_camera@sensor_msgs/msg/Image[ignition.msgs.Image',
+                '/depth_camera/points@sensor_msgs/msg/PointCloud2[ignition.msgs.PointCloudPacked',
+            ],
+        ),
+
         Node(
             package='ros_gz_bridge',
             executable='parameter_bridge',