diff --git a/CMakeLists.txt b/CMakeLists.txt
new file mode 100644
index 0000000000000000000000000000000000000000..8a8e42c68fdabe4e92f336d1cf2843622a0a8452
--- /dev/null
+++ b/CMakeLists.txt
@@ -0,0 +1,195 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(iri_realsense_depth_description)
+
+## Compile as C++11, supported in ROS Kinetic and newer
+# add_compile_options(-std=c++11)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+##   * add a build_depend tag for "message_generation"
+##   * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
+##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
+##     but can be declared for certainty nonetheless:
+##     * add a exec_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+##   * add "message_generation" and every package in MSG_DEP_SET to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * add "message_runtime" and every package in MSG_DEP_SET to
+##     catkin_package(CATKIN_DEPENDS ...)
+##   * uncomment the add_*_files sections below as needed
+##     and list every .msg/.srv/.action file to be processed
+##   * uncomment the generate_messages entry below
+##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+#   FILES
+#   Message1.msg
+#   Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+#   FILES
+#   Service1.srv
+#   Service2.srv
+# )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+#   FILES
+#   Action1.action
+#   Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+#   DEPENDENCIES
+#   std_msgs  # Or other packages containing msgs
+# )
+
+################################################
+## Declare ROS dynamic reconfigure parameters ##
+################################################
+
+## To declare and build dynamic reconfigure parameters within this
+## package, follow these steps:
+## * In the file package.xml:
+##   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
+## * In this file (CMakeLists.txt):
+##   * add "dynamic_reconfigure" to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * uncomment the "generate_dynamic_reconfigure_options" section below
+##     and list every .cfg file to be processed
+
+## Generate dynamic reconfigure parameters in the 'cfg' folder
+# generate_dynamic_reconfigure_options(
+#   cfg/DynReconf1.cfg
+#   cfg/DynReconf2.cfg
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if your package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+#  INCLUDE_DIRS include
+#  LIBRARIES iri_realsense_depth_description
+#  CATKIN_DEPENDS other_catkin_pkg
+#  DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(
+# include
+# ${catkin_INCLUDE_DIRS}
+)
+
+## Declare a C++ library
+# add_library(${PROJECT_NAME}
+#   src/${PROJECT_NAME}/iri_realsense_depth_description.cpp
+# )
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Declare a C++ executable
+## With catkin_make all packages are built within a single CMake context
+## The recommended prefix ensures that target names across packages don't collide
+# add_executable(${PROJECT_NAME}_node src/iri_realsense_depth_description_node.cpp)
+
+## Rename C++ executable without prefix
+## The above recommended prefix causes long target names, the following renames the
+## target back to the shorter version for ease of user use
+## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
+# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
+
+## Add cmake target dependencies of the executable
+## same as for the library above
+# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Specify libraries to link a library or executable target against
+# target_link_libraries(${PROJECT_NAME}_node
+#   ${catkin_LIBRARIES}
+# )
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# install(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables and/or libraries for installation
+# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node
+#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+#   FILES_MATCHING PATTERN "*.h"
+#   PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+#   # myfile1
+#   # myfile2
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_iri_realsense_depth_description.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)
diff --git a/package.xml b/package.xml
new file mode 100644
index 0000000000000000000000000000000000000000..2c05bf883c7062ba54f7de5827f29a4ba86560a4
--- /dev/null
+++ b/package.xml
@@ -0,0 +1,59 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>iri_realsense_depth_description</name>
+  <version>0.0.0</version>
+  <description>The iri_realsense_depth_description package</description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag -->
+  <!-- Example:  -->
+  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
+  <maintainer email="labrobotica@iri.upc.edu">labrobotica</maintainer>
+
+
+  <!-- One license tag required, multiple allowed, one license per tag -->
+  <!-- Commonly used license strings: -->
+  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+  <license>LGPL</license>
+
+
+  <!-- Url tags are optional, but multiple are allowed, one per tag -->
+  <!-- Optional attribute type can be: website, bugtracker, or repository -->
+  <!-- Example: -->
+  <!-- <url type="website">http://wiki.ros.org/iri_realsense_depth_description</url> -->
+
+
+  <!-- Author tags are optional, multiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintainers, but could be -->
+  <!-- Example: -->
+  <author email="shernand@iri.upc.edu">Sergi Hernandez Juan</author>
+
+
+  <!-- The *depend tags are used to specify dependencies -->
+  <!-- Dependencies can be catkin packages or system dependencies -->
+  <!-- Examples: -->
+  <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
+  <!--   <depend>roscpp</depend> -->
+  <!--   Note that this is equivalent to the following: -->
+  <!--   <build_depend>roscpp</build_depend> -->
+  <!--   <exec_depend>roscpp</exec_depend> -->
+  <!-- Use build_depend for packages you need at compile time: -->
+  <!--   <build_depend>message_generation</build_depend> -->
+  <!-- Use build_export_depend for packages you need in order to build against this package: -->
+  <!--   <build_export_depend>message_generation</build_export_depend> -->
+  <!-- Use buildtool_depend for build tool packages: -->
+  <!--   <buildtool_depend>catkin</buildtool_depend> -->
+  <!-- Use exec_depend for packages you need at runtime: -->
+  <!--   <exec_depend>message_runtime</exec_depend> -->
+  <!-- Use test_depend for packages you need only for testing: -->
+  <!--   <test_depend>gtest</test_depend> -->
+  <!-- Use doc_depend for packages you need only for building documentation: -->
+  <!--   <doc_depend>doxygen</doc_depend> -->
+  <buildtool_depend>catkin</buildtool_depend>
+
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>
diff --git a/urdf/realsense.gazebo b/urdf/realsense.gazebo
new file mode 100644
index 0000000000000000000000000000000000000000..043be5bddba6e83781ddaec39264e6084b4cee36
--- /dev/null
+++ b/urdf/realsense.gazebo
@@ -0,0 +1,51 @@
+<?xml version="1.0"?>
+
+<root xmlns:xacro="http://ros.org/wiki/xacro">
+
+<!--  <xacro:include filename="$(find iri_realsense_depth_gazebo)/urdf/realsense.gazebo" />-->
+  <xacro:include filename="$(find iri_depth_camera_gazebo)/urdf/realsense.gazebo" />
+
+  <xacro:macro name="realsense_depth_gazebo" params="name sim_config">
+
+    <gazebo reference="${name}_link">
+      <material>Gazebo/Black</material>
+    </gazebo>
+
+    <gazebo reference="${name}_depth_frame">
+      <material>Gazebo/Black</material>
+    </gazebo>
+
+    <gazebo reference="${name}_depth_optical_frame">
+      <material>Gazebo/Black</material>
+    </gazebo>
+
+    <gazebo reference="${name}_left_ir_frame">
+      <material>Gazebo/Black</material>
+    </gazebo>
+
+    <gazebo reference="${name}_left_ir_optical_frame">
+      <material>Gazebo/Black</material>
+    </gazebo>
+
+    <gazebo reference="${name}_right_ir_frame">
+      <material>Gazebo/Black</material>
+    </gazebo>
+
+    <gazebo reference="${name}_right_ir_optical_frame">
+      <material>Gazebo/Black</material>
+    </gazebo>
+
+    <gazebo reference="${name}_color_frame">
+      <material>Gazebo/Black</material>
+    </gazebo>
+
+    <gazebo reference="${name}_color_optical_frame">
+      <material>Gazebo/Black</material>
+    </gazebo>
+
+<!--    <xacro:iri_realsense_depth_gazebo name="${name}" config="${sim_config}"/>-->
+    <xacro:iri_depth_camera_gazebo name="${name}" config="${sim_config}"/>
+
+  </xacro:macro>
+
+</root>
diff --git a/urdf/realsense.xacro b/urdf/realsense.xacro
new file mode 100644
index 0000000000000000000000000000000000000000..784308a8b87d69e1c44c6233724a78fdd2ad955c
--- /dev/null
+++ b/urdf/realsense.xacro
@@ -0,0 +1,34 @@
+<?xml version="1.0"?>
+
+<root xmlns:xacro="http://ros.org/wiki/xacro">
+
+  <xacro:include filename="$(find iri_realsense_depth_description)/urdf/realsense.gazebo" />
+
+  <xacro:macro name="realsense_depth" params="parent model *origin sim_config">
+
+    <xacro:if value="${model == 'd435'}">
+      <xacro:include filename="$(find realsense2_camera)/urdf/_d435.urdf.xacro"/>
+      <sensor_d435 parent="${parent}">
+        <xacro:insert_block name="origin"/>
+      </sensor_d435>
+    </xacro:if>
+
+    <xacro:if value="${model == 'r410'}">
+      <xacro:include filename="$(find realsense2_camera)/urdf/_r410.urdf.xacro"/>
+      <sensor_r410 parent="${parent}">
+        <xacro:insert_block name="origin"/>
+      </sensor_r410>
+    </xacro:if>
+
+    <xacro:if value="${model == 'r430'}">
+      <xacro:include filename="$(find realsense2_camera)/urdf/_r430.urdf.xacro"/>
+      <sensor_r430 parent="${parent}">
+        <xacro:insert_block name="origin"/>
+      </sensor_r430>
+    </xacro:if>
+
+    <xacro:realsense_depth_gazebo name="camera" sim_config="${sim_config}"/>
+
+  </xacro:macro>
+
+</root>
diff --git a/urdf/realsense_example.xacro b/urdf/realsense_example.xacro
new file mode 100644
index 0000000000000000000000000000000000000000..f4c6098e32238b18555766fcfef83491ba6b716f
--- /dev/null
+++ b/urdf/realsense_example.xacro
@@ -0,0 +1,36 @@
+<?xml version="1.0"?>
+
+<robot name="realsense_depth" xmlns:xacro="http://ros.org/wiki/xacro">
+
+  <xacro:include filename="$(find iri_realsense_depth_description)/urdf/realsense.xacro" />
+
+  <xacro:arg name="name" default="camera"/>
+
+  <link name="depth_base_parent" >
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <box size="1.0 1.0 1.0"/>
+      </geometry>
+      <material name="Grey">
+        <color rgba="0.79 0.82 0.93 1.0"/>
+      </material>
+    </visual>
+    <inertial>
+      <mass value="1.0" />
+      <origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
+      <inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.1" />
+    </inertial>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <box size="1.0 1.0 1.0"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <xacro:realsense_depth name="$(arg name)" parent="depth_base_parent" model="d435" sim_config="$(find iri_depth_camera_gazebo)/config/realsense_d435_depth_sim_config.yaml">
+    <origin xyz="0.0 0.0 0.55" rpy="0 0 0" />
+  </xacro:realsense_depth>
+
+</robot>