diff --git a/camboard/manifest.xml b/camboard/manifest.xml
new file mode 100644
index 0000000000000000000000000000000000000000..8b11990faea80895525a79ad69514058761e1b21
--- /dev/null
+++ b/camboard/manifest.xml
@@ -0,0 +1,17 @@
+<?xml version="1.0"?>
+
+<model>
+  <name>Camboard</name>
+  <version>1.0</version>
+  <sdf version="1.4">model-1_4.sdf</sdf>
+  <sdf version="1.5">model.sdf</sdf>
+
+  <author>
+    <name>Sergi Foix</name>
+    <email>sfoix@iri.upc.edu</email>
+  </author>
+
+  <description>
+    PMD camboard simulated camera.
+  </description>
+</model>
diff --git a/camboard/model-1_4.sdf b/camboard/model-1_4.sdf
new file mode 100644
index 0000000000000000000000000000000000000000..e64733f8ebfc0a4b4fa967d19e048ac9a662a1c1
--- /dev/null
+++ b/camboard/model-1_4.sdf
@@ -0,0 +1,110 @@
+<?xml version="1.0" ?>
+<sdf version="1.4">
+  <model name="camboard">
+    <static>false</static>
+    <link name="link">
+      <pose>0.0 0.0 0.0 3.14 -1.57 -1.57</pose>
+      <inertial>
+        <pose>0.0 0.0 0.0 0.0 0.0 -1.57</pose>
+        <mass>0.2</mass>
+        <inertia>
+          <ixx>0.00009</ixx>
+          <iyy>0.00025</iyy>
+          <izz>0.00025</izz>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyz>0</iyz>
+        </inertia>
+      </inertial>
+      <collision name="collision">
+        <pose>0.0 0.0 0.0 0.0 0.0 -1.57</pose>
+        <geometry>
+          <box>
+            <size>0.095 0.04 0.05</size>
+          </box>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1.0</mu>
+              <mu2>1.0</mu2>
+            </ode>
+          </friction>
+          <contact>
+            <ode>
+              <kp>10000000.0</kp>
+              <kd>1.0</kd>
+              <min_depth>0.001</min_depth>
+              <max_vel>0.1</max_vel>
+            </ode>
+          </contact>
+        </surface>
+      </collision>
+      <visual name="visual">
+        <pose>0.0 0.0 0.0 0.0 0.0 -1.57</pose>
+        <geometry>
+          <box>
+            <size>0.095 0.04 0.05</size>
+          </box>
+        </geometry>
+      </visual>
+      <sensor name='camera' type='depth'>
+        <always_on>true</always_on>
+        <update_rate>20</update_rate>
+        <visualize>false</visualize>
+        <camera name='__default__'>
+          <horizontal_fov>1.0472</horizontal_fov>
+          <image>
+            <width>200</width>
+            <height>200</height>
+            <format>L8</format>
+          </image>
+          <clip>
+            <near>0.01</near>
+            <far>7.5</far>
+          </clip>
+          <depth_camera>
+            <output>depths</output>
+          </depth_camera>
+          <noise>
+            <type>gaussian</type>
+            <mean>0.0</mean>
+            <stddev>0.0</stddev>
+          </noise>
+        </camera>
+        <plugin name="$camboard_controller" filename="libgazebo_ros_openni_kinect.so">
+          <robotNamespace>/</robotNamespace>
+          <baseline>0.0</baseline>
+          <alwaysOn>true</alwaysOn>
+          <updateRate>1.0</updateRate>
+          <cameraName>/camboard</cameraName>
+          <imageTopicName>/camboard/intensity/image_raw</imageTopicName>
+          <cameraInfoTopicName>/camboard/intensity/camera_info</cameraInfoTopicName>
+          <depthImageTopicName>/camboard/depth/image_raw</depthImageTopicName>
+          <depthImageCameraInfoTopicName>/camboard/depth/camera_info</depthImageCameraInfoTopicName>
+          <pointCloudTopicName>/camboard/depth/points</pointCloudTopicName>
+          <frameName>tof_camera_depth_optical_frame</frameName>
+          <pointCloudCutoff>0.10</pointCloudCutoff>
+          <pointCloudCutoffMax>7.5</pointCloudCutoffMax>
+          <distortionK1>0.000000</distortionK1>
+          <distortionK2>0.000000</distortionK2>
+          <distortionK3>0.000000</distortionK3>
+          <distortionT1>0.000000</distortionT1>
+          <distortionT2>0.000000</distortionT2>
+          <CxPrime>0</CxPrime>
+          <Cx>0</Cx>
+          <Cy>0</Cy>
+          <focalLength>0</focalLength>
+          <hackBaseline>0</hackBaseline>
+        </plugin>
+      </sensor>
+      <velocity_decay>
+        <linear>0</linear>
+        <angular>0</angular>
+      </velocity_decay>
+      <self_collide>0</self_collide>
+      <kinematic>0</kinematic>
+      <gravity>false</gravity>
+    </link>
+  </model>
+</sdf>
diff --git a/camboard/model.config b/camboard/model.config
new file mode 100644
index 0000000000000000000000000000000000000000..8b11990faea80895525a79ad69514058761e1b21
--- /dev/null
+++ b/camboard/model.config
@@ -0,0 +1,17 @@
+<?xml version="1.0"?>
+
+<model>
+  <name>Camboard</name>
+  <version>1.0</version>
+  <sdf version="1.4">model-1_4.sdf</sdf>
+  <sdf version="1.5">model.sdf</sdf>
+
+  <author>
+    <name>Sergi Foix</name>
+    <email>sfoix@iri.upc.edu</email>
+  </author>
+
+  <description>
+    PMD camboard simulated camera.
+  </description>
+</model>
diff --git a/camboard/model.sdf b/camboard/model.sdf
new file mode 100644
index 0000000000000000000000000000000000000000..5bf4981d695030c69bec3fce980677198bd070a3
--- /dev/null
+++ b/camboard/model.sdf
@@ -0,0 +1,110 @@
+<?xml version="1.0" ?>
+<sdf version="1.5">
+  <model name="camboard">
+    <static>false</static>
+    <link name="link">
+      <pose>0.0 0.0 0.0 3.14 -1.57 -1.57</pose>
+      <inertial>
+        <pose>0.0 0.0 0.0 0.0 0.0 -1.57</pose>
+        <mass>0.2</mass>
+        <inertia>
+          <ixx>0.00009</ixx>
+          <iyy>0.00025</iyy>
+          <izz>0.00025</izz>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyz>0</iyz>
+        </inertia>
+      </inertial>
+      <collision name="collision">
+        <pose>0.0 0.0 0.0 0.0 0.0 -1.57</pose>
+        <geometry>
+          <box>
+            <size>0.095 0.04 0.05</size>
+          </box>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1.0</mu>
+              <mu2>1.0</mu2>
+            </ode>
+          </friction>
+          <contact>
+            <ode>
+              <kp>10000000.0</kp>
+              <kd>1.0</kd>
+              <min_depth>0.001</min_depth>
+              <max_vel>0.1</max_vel>
+            </ode>
+          </contact>
+        </surface>
+      </collision>
+      <visual name="visual">
+        <pose>0.0 0.0 0.0 0.0 0.0 -1.57</pose>
+        <geometry>
+          <box>
+            <size>0.095 0.04 0.05</size>
+          </box>
+        </geometry>
+      </visual>
+      <sensor name='camera' type='depth'>
+        <always_on>true</always_on>
+        <update_rate>20</update_rate>
+        <visualize>false</visualize>
+        <camera name='__default__'>
+          <horizontal_fov>1.0472</horizontal_fov>
+          <image>
+            <width>200</width>
+            <height>200</height>
+            <format>L8</format>
+          </image>
+          <clip>
+            <near>0.01</near>
+            <far>7.5</far>
+          </clip>
+          <depth_camera>
+            <output>depths</output>
+          </depth_camera>
+          <noise>
+            <type>gaussian</type>
+            <mean>0.0</mean>
+            <stddev>0.0</stddev>
+          </noise>
+        </camera>
+        <plugin name="$camboard_controller" filename="libgazebo_ros_openni_kinect.so">
+          <robotNamespace>/</robotNamespace>
+          <baseline>0.0</baseline>
+          <alwaysOn>true</alwaysOn>
+          <updateRate>1.0</updateRate>
+          <cameraName>/camboard</cameraName>
+          <imageTopicName>/camboard/intensity/image_raw</imageTopicName>
+          <cameraInfoTopicName>/camboard/intensity/camera_info</cameraInfoTopicName>
+          <depthImageTopicName>/camboard/depth/image_raw</depthImageTopicName>
+          <depthImageCameraInfoTopicName>/camboard/depth/camera_info</depthImageCameraInfoTopicName>
+          <pointCloudTopicName>/camboard/depth/points</pointCloudTopicName>
+          <frameName>tof_camera_depth_optical_frame</frameName>
+          <pointCloudCutoff>0.10</pointCloudCutoff>
+          <pointCloudCutoffMax>7.5</pointCloudCutoffMax>
+          <distortionK1>0.000000</distortionK1>
+          <distortionK2>0.000000</distortionK2>
+          <distortionK3>0.000000</distortionK3>
+          <distortionT1>0.000000</distortionT1>
+          <distortionT2>0.000000</distortionT2>
+          <CxPrime>0</CxPrime>
+          <Cx>0</Cx>
+          <Cy>0</Cy>
+          <focalLength>0</focalLength>
+          <hackBaseline>0</hackBaseline>
+        </plugin>
+      </sensor>
+      <velocity_decay>
+        <linear>0</linear>
+        <angular>0</angular>
+      </velocity_decay>
+      <self_collide>0</self_collide>
+      <kinematic>0</kinematic>
+      <gravity>false</gravity>
+    </link>
+  </model>
+</sdf>