diff --git a/urdf/stereolabs_zed.urdf.xacro b/urdf/stereolabs_zed.urdf.xacro
index be135f8..7971d70 100644
--- a/urdf/stereolabs_zed.urdf.xacro
+++ b/urdf/stereolabs_zed.urdf.xacro
@@ -22,11 +22,9 @@
   <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
-    namespace:=None
     simulation_engine:=ignition-gazebo">
 
     <xacro:if value="${namespace == 'None'}">
@@ -93,10 +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>
 
@@ -195,7 +193,7 @@
           <always_on>true</always_on>
           <update_rate>30.0</update_rate>
 
-          <topic>${ns}zed/zed_node/rgb/image_rect_color</topic>
+          <topic>${ns}${prefix}${name}/zed_node/rgb/image_rect_color</topic>
           <visualize>false</visualize>
 
           <ignition_frame_id>${prefix}${name}_center_optical_frame</ignition_frame_id>
@@ -220,7 +218,7 @@
           <always_on>true</always_on>
           <update_rate>30.0</update_rate>
 
-          <topic>${ns}zed/zed_node/depth</topic>
+          <topic>${ns}${prefix}${name}/zed_node/depth</topic>
           <visualize>false</visualize>
 
           <ignition_frame_id>${prefix}${name}_center_optical_frame</ignition_frame_id>