URDF bug fixed working on H1

Merge branch 'bugfix/required_realsense_xacro_arg'

stretch_calibration/nodes/collect_head_calibration_data

@@ -207,7 +207,7 @@ class CollectHeadCalibrationDataNode:
 
                 if timeout:
                     rospy.logerr('collect_head_calibration_data get_samples: timeout while waiting for sample.')
-                    #raise IOError('Timeout')
+                    raise Exception('Timed out waiting for joint_states/accelerations/markers messages after 10 seconds')
 
                 with self.data_lock:
                     #set backlash joint state

stretch_core/launch/d435i_basic.launch

@@ -17,6 +17,7 @@
     <arg name="depth_fps" value="15"/>
     <arg name="enable_infra1" value="false"/>
     <arg name="enable_infra2" value="false"/>
+    <arg name="enable_accel" value="true"/>
 
     <arg name="depth_width" value="$(arg depth_width)"/>
     <arg name="depth_height" value="$(arg depth_height)"/>

stretch_description/urdf/stretch_d435i.xacro

@@ -2,6 +2,7 @@
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="stretch_d435i">
 
   <xacro:arg name="use_nominal_extrinsics" default="true"/>
+  <xacro:arg name="add_plug" default="false"/>
   <xacro:include filename="$(find realsense2_description)/urdf/_d435.urdf.xacro"/>
 
   <!-- xyz = "