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It looks like all your urdf.xacro file is doing is:

• including d435.gazebo.xacro
• defining a macro named "sensor_d435"

Is there any code actually instantiating that macro ? If not the resultung URDF will be empty, explaining why gazebo cannot find any link in it.

For the macro sensor_d435 to take effect you need to instantiate it, similar to how you instantiate simulation_d435 insidesensor_d435:

<xacro:simulation_d435 camera_name="realsense" depth_optical_frame="camera_depth_optical_frame" color_optical_frame="camera_color_optical_frame" infrared1_optical_frame="camera_left_ir_optical_frame" infrared2_optical_frame="camera_right_ir_optical_frame"/>