diff --git a/realsense2_camera/include/constants.h b/realsense2_camera/include/constants.h
index 80104e46c..7f5b28cee 100644
--- a/realsense2_camera/include/constants.h
+++ b/realsense2_camera/include/constants.h
@@ -53,6 +53,7 @@ namespace realsense2_camera
     const uint16_t RS430_MM_PID     = 0x0ad5; // AWGT
     const uint16_t RS_USB2_PID      = 0x0ad6; // USB2
     const uint16_t RS420_PID        = 0x0af6; // PWG
+    const uint16_t RS421_PID        = 0x1155; // D421
     const uint16_t RS420_MM_PID     = 0x0afe; // PWGT
     const uint16_t RS410_MM_PID     = 0x0aff; // ASR
     const uint16_t RS400_MM_PID     = 0x0b00; // PSR
diff --git a/realsense2_camera/src/realsense_node_factory.cpp b/realsense2_camera/src/realsense_node_factory.cpp
index c19bae6e0..f7ea18bca 100644
--- a/realsense2_camera/src/realsense_node_factory.cpp
+++ b/realsense2_camera/src/realsense_node_factory.cpp
@@ -364,6 +364,7 @@ void RealSenseNodeFactory::startDevice()
         case RS460_PID:
         case RS415_PID:
         case RS420_PID:
+        case RS421_PID:
         case RS420_MM_PID:
         case RS430_PID:
         case RS430i_PID: