diff --git a/pr2_description/robots/pr2.urdf.xacro b/pr2_description/robots/pr2.urdf.xacro
index 15afbb5..576955b 100644
--- a/pr2_description/robots/pr2.urdf.xacro
+++ b/pr2_description/robots/pr2.urdf.xacro
@@ -136,10 +136,8 @@
   </xacro:wge100_camera_v0>
 
   <!-- Kinect models -->
-  <xacro:arg name="kinect2" default="false"/>
-
   <!-- Kinect1 xacro -->
-  <xacro:unless value="$(arg kinect2)">
+  <xacro:if value="$(optenv KINECT1 false)">
     <xacro:include filename="$(find pr2_description)/urdf/sensors/kinect_prosilica_camera.urdf.xacro" />
     <!-- Base of Kinect/Prosilica Mount -->
     <xacro:kinect_prosilica_camera_swept_back_v0 name="head_mount" parent="head_plate_frame" >
@@ -157,10 +155,10 @@
             Just need to roscd and svn up.
       -->
     </xacro:kinect_prosilica_camera_swept_back_v0>
-  </xacro:unless>
+  </xacro:if>
 
   <!-- Kinect2 xacro -->
-  <xacro:if value="$(arg kinect2)">
+  <xacro:if value="$(optenv KINECT2 false)">
     <xacro:include filename="$(find pr2_description)/urdf/sensors/kinect2.urdf.xacro" />
     <xacro:kinect2_v0 name="head_mount" parent="head_plate_frame" >
       <origin xyz="-0.137376 0 0.091746" rpy="0 0 0" />
diff --git a/pr2_description/robots/upload_pr2.launch b/pr2_description/robots/upload_pr2.launch
index d5ced9f..90a76ba 100644
--- a/pr2_description/robots/upload_pr2.launch
+++ b/pr2_description/robots/upload_pr2.launch
@@ -1,11 +1,11 @@
 <launch>
   <!-- send pr2 urdf to param server -->
   <group if="$(optenv KINECT2)">
-    <param name="robot_description" command="$(find xacro)/xacro.py '$(find pr2_description)/robots/pr2.urdf.xacro' kinect2:=true" />
+    <param name="robot_description" command="$(find xacro)/xacro.py '$(find pr2_description)/robots/pr2.urdf.xacro'" />
   </group>
   <group unless="$(optenv KINECT2)">
     <group if="$(optenv KINECT1)">
-      <param name="robot_description" command="$(find xacro)/xacro.py '$(find pr2_description)/robots/pr2.urdf.xacro' kinect2:=false" />
+      <param name="robot_description" command="$(find xacro)/xacro.py '$(find pr2_description)/robots/pr2.urdf.xacro'" />
     </group>
     <group unless="$(optenv KINECT1)">
       <param name="robot_description" command="$(find xacro)/xacro.py '$(find pr2_description)/robots/pr2_no_kinect.urdf.xacro'" />