diff --git a/config/gz_bridge.yaml b/config/gz_bridge.yaml
index f0cf516..6924d6c 100644
--- a/config/gz_bridge.yaml
+++ b/config/gz_bridge.yaml
@@ -3,7 +3,12 @@
   gz_type_name: "gz.msgs.Clock"
   direction: GZ_TO_ROS
 
-- topic_name: "/rgbd_camera/image"
+- topic_name: "/inner_rgbd_camera/image"
+  ros_type_name: "sensor_msgs/msg/Image"
+  gz_type_name: "gz.msgs.Image"
+  direction: GZ_TO_ROS
+
+- topic_name: "/outer_rgbd_camera/image"
   ros_type_name: "sensor_msgs/msg/Image"
   gz_type_name: "gz.msgs.Image"
   direction: GZ_TO_ROS
diff --git a/urdf/aubo_i5.urdf.xacro b/urdf/aubo_i5.urdf.xacro
index d099f34..87eec1e 100644
--- a/urdf/aubo_i5.urdf.xacro
+++ b/urdf/aubo_i5.urdf.xacro
@@ -251,8 +251,12 @@
   </xacro:simple_parallel_gripper>
 
 
-  <xacro:rgbd parent="wrist3_Link" tf_prefix="">
-    <origin xyz="0.0 0.05 0.04" rpy="0.0 -1.47 -1.57" />
+  <xacro:rgbd parent="wrist3_Link" tf_prefix="inner_">
+    <origin xyz="0.0 0.05 0.0" rpy="0.0 -1.47 -1.57" />
+  </xacro:rgbd>
+
+  <xacro:rgbd parent="base_link" tf_prefix="outer_">
+    <origin xyz="0.62179261445999146 -0.83430188894271851 0.85204130411148071" rpy="0.00 0.608 1.934" />
   </xacro:rgbd>
 
   <xacro:aubo_ros2_control hardware="${hardware}" robot_ip="${robot_ip}" />
diff --git a/urdf/sensors.xacro b/urdf/sensors.xacro
index 54fb9ac..fec0b7f 100644
--- a/urdf/sensors.xacro
+++ b/urdf/sensors.xacro
@@ -30,8 +30,8 @@
         <camera>
           <horizontal_fov>1.047</horizontal_fov>
           <image>
-            <width>1920</width>
-            <height>1080</height>
+            <width>640</width>
+            <height>480</height>
           </image>
           <clip>
             <near>0.1</near>