diff --git a/zivid_description/CMakeLists.txt b/zivid_description/CMakeLists.txt
new file mode 100644
index 00000000..41bed48a
--- /dev/null
+++ b/zivid_description/CMakeLists.txt
@@ -0,0 +1,11 @@
+cmake_minimum_required(VERSION 3.5)
+project(zivid_description)
+
+find_package(catkin REQUIRED COMPONENTS)
+
+catkin_package()
+
+install(
+    DIRECTORY config launch meshes urdf
+    DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)
diff --git a/zivid_description/README.md b/zivid_description/README.md
new file mode 100644
index 00000000..fe42cd16
--- /dev/null
+++ b/zivid_description/README.md
@@ -0,0 +1,40 @@
+# Zivid Description
+
+## Usage
+The URDF or the underlying macro can be included in your own project.
+
+To view the Zivid One Plus:
+```bash
+roslaunch zivid_description view_zivid_one_plus_camera.launch type:='ZIVID_ONE_M'
+```
+
+The available types are: `ZIVID_ONE_S`, `ZIVID_ONE_M` (default), `ZIVID_ONE_L`
+
+If an incorrect type is specified, the xacro will fail with the following error:
+```bash
+name 'optical_frame_angle' is not defined 
+when evaluating expression '0.5*pi + optical_frame_angle/180*pi' 
+```
+
+To view the Zivid Two (Plus):
+```
+roslaunch zivid_description view_zivid_two_camera.launch type:='ZIVID_TWO_M70'
+```
+
+The available types are: `ZIVID_TWO_M70` (default), `ZIVID_TWO_M100`, `ZIVID_TWO_PLUS_L110`, `ZIVID_TWO_PLUS_M60`, `ZIVID_TWO_PLUS_M130`
+
+Note: Currently the types do not actually influence the URDF in any way for the Zivid Two or Zivid Two Plus types.
+
+## Launch files
+- `load_zivid_one_plus_camera.launch`: Loads the Zivid One Plus camera    
+  Arguments:  
+  - `type` (string, options: `ZIVID_ONE_S`, `ZIVID_ONE_M`, `ZIVID_ONE_L`, default: `ZIVID_ONE_M`)
+- `view_zivid_one_plus_camera.launch`: Visualizes the Zivid One Plus camera in RViz  
+  Arguments:  
+  - `type` (string, options: `ZIVID_ONE_S`, `ZIVID_ONE_M`, `ZIVID_ONE_L`, default: `ZIVID_ONE_M`)
+- `load_zivid_two_camera.launch`: Loads the Zivid Two or Zivid Two Plus camera   
+  Arguments:  
+  - `type` (string, options: `ZIVID_TWO_M70`, `ZIVID_TWO_M100`, `ZIVID_TWO_PLUS_L110`, `ZIVID_TWO_PLUS_M60`, `ZIVID_TWO_PLUS_M130`, default: `ZIVID_TWO_M70`)
+- `load_zivid_two_camera.launch`: Visualizes the Zivid Two or Zivid Two Plus camera in RViz  
+  Arguments:  
+  - `type` (string, options: `ZIVID_TWO_M70`, `ZIVID_TWO_M100`, `ZIVID_TWO_PLUS_L110`, `ZIVID_TWO_PLUS_M60`, `ZIVID_TWO_PLUS_M130`, default: `ZIVID_TWO_M70`)
diff --git a/zivid_description/config/config.rviz b/zivid_description/config/config.rviz
new file mode 100644
index 00000000..81107543
--- /dev/null
+++ b/zivid_description/config/config.rviz
@@ -0,0 +1,172 @@
+Panels:
+  - Class: rviz/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /TF1
+      Splitter Ratio: 0.5
+    Tree Height: 549
+  - Class: rviz/Selection
+    Name: Selection
+  - Class: rviz/Tool Properties
+    Expanded:
+      - /2D Pose Estimate1
+      - /2D Nav Goal1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: ""
+Preferences:
+  PromptSaveOnExit: true
+Toolbars:
+  toolButtonStyle: 2
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Alpha: 1
+      Class: rviz/RobotModel
+      Collision Enabled: false
+      Enabled: true
+      Links:
+        All Links Enabled: true
+        Expand Joint Details: false
+        Expand Link Details: false
+        Expand Tree: false
+        Link Tree Style: Links in Alphabetic Order
+        base_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        optical_frame:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        projector_frame:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+      Name: RobotModel
+      Robot Description: robot_description
+      TF Prefix: ""
+      Update Interval: 0
+      Value: true
+      Visual Enabled: true
+    - Class: rviz/TF
+      Enabled: true
+      Frame Timeout: 15
+      Frames:
+        All Enabled: true
+        base_link:
+          Value: true
+        optical_frame:
+          Value: true
+        projector_frame:
+          Value: true
+      Marker Scale: 0.5
+      Name: TF
+      Show Arrows: true
+      Show Axes: true
+      Show Names: true
+      Tree:
+        base_link:
+          optical_frame:
+            {}
+          projector_frame:
+            {}
+      Update Interval: 0
+      Value: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Default Light: true
+    Fixed Frame: base_link
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz/Interact
+      Hide Inactive Objects: true
+    - Class: rviz/MoveCamera
+    - Class: rviz/Select
+    - Class: rviz/FocusCamera
+    - Class: rviz/Measure
+    - Class: rviz/SetInitialPose
+      Theta std deviation: 0.2617993950843811
+      Topic: /initialpose
+      X std deviation: 0.5
+      Y std deviation: 0.5
+    - Class: rviz/SetGoal
+      Topic: /move_base_simple/goal
+    - Class: rviz/PublishPoint
+      Single click: true
+      Topic: /clicked_point
+  Value: true
+  Views:
+    Current:
+      Class: rviz/Orbit
+      Distance: 0.8492640256881714
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: 0.01670752838253975
+        Y: -0.021326012909412384
+        Z: -0.08468055725097656
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.8097971677780151
+      Target Frame: <Fixed Frame>
+      Value: Orbit (rviz)
+      Yaw: 6.068594932556152
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 846
+  Hide Left Dock: false
+  Hide Right Dock: false
+  QMainWindow State: 000000ff00000000fd000000040000000000000156000002b0fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000002b0000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002b0fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d000002b0000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650100000000000004b0000002eb00fffffffb0000000800540069006d006501000000000000045000000000000000000000023f000002b000000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 1200
+  X: 164
+  Y: 0
diff --git a/zivid_description/launch/load_zivid_one_plus_camera.launch b/zivid_description/launch/load_zivid_one_plus_camera.launch
new file mode 100644
index 00000000..d4ffa20a
--- /dev/null
+++ b/zivid_description/launch/load_zivid_one_plus_camera.launch
@@ -0,0 +1,7 @@
+<launch>
+    <!-- Specify the type of the Zivid two camera -->
+    <!--   Options: ZIVID_ONE_PLUS_S, ZIVID_ONE_PLUS_M, ZIVID_ONE_PLUS_L -->
+    <arg name="type" default="ZIVID_ONE_PLUS_M"/>
+
+    <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find zivid_description)/urdf/zivid_one_plus_camera.urdf.xacro' type:=$(arg type)"/>
+</launch>
\ No newline at end of file
diff --git a/zivid_description/launch/load_zivid_two_camera.launch b/zivid_description/launch/load_zivid_two_camera.launch
new file mode 100644
index 00000000..be36ac7e
--- /dev/null
+++ b/zivid_description/launch/load_zivid_two_camera.launch
@@ -0,0 +1,7 @@
+<launch>
+    <!-- Specify the type of the Zivid two camera -->
+    <!--   Options: ZIVID_TWO_M70, ZIVID_TWO_M100, ZIVID_TWO_PLUS_L110, ZIVID_TWO_PLUS_M60, ZIVID_TWO_PLUS_M130 -->
+    <arg name="type" default="ZIVID_TWO_M70" />
+    
+    <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find zivid_description)/urdf/zivid_two_camera.urdf.xacro' type:=$(arg type)"/>
+</launch>
\ No newline at end of file
diff --git a/zivid_description/launch/view_zivid_one_plus_camera.launch b/zivid_description/launch/view_zivid_one_plus_camera.launch
new file mode 100644
index 00000000..163e03dc
--- /dev/null
+++ b/zivid_description/launch/view_zivid_one_plus_camera.launch
@@ -0,0 +1,12 @@
+<launch>
+    <!-- Specify the type of the Zivid two camera -->
+    <!--   Options: ZIVID_ONE_PLUS_S, ZIVID_ONE_PLUS_M, ZIVID_ONE_PLUS_L -->
+    <arg name="type" default="ZIVID_ONE_PLUS_M" />
+
+    <include file="$(find zivid_description)/launch/load_zivid_one_plus_camera.launch">
+        <arg name="type" default="$(arg type)"/>
+    </include>
+
+    <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/>
+    <node name="rviz" pkg="rviz" type="rviz" args="-d $(find zivid_description)/config/config.rviz" required="true"/>
+</launch>
\ No newline at end of file
diff --git a/zivid_description/launch/view_zivid_two_camera.launch b/zivid_description/launch/view_zivid_two_camera.launch
new file mode 100644
index 00000000..189c2986
--- /dev/null
+++ b/zivid_description/launch/view_zivid_two_camera.launch
@@ -0,0 +1,12 @@
+<launch>
+    <!-- Specify the type of the Zivid two camera -->
+    <!--   Options: ZIVID_TWO_M70, ZIVID_TWO_M100, ZIVID_TWO_PLUS_L110, ZIVID_TWO_PLUS_M60, ZIVID_TWO_PLUS_M130 -->
+    <arg name="type" default="ZIVID_TWO_M70" />
+
+    <include file="$(find zivid_description)/launch/load_zivid_two_camera.launch">
+        <arg name="type" default="$(arg type)"/>
+    </include>
+
+    <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/>
+    <node name="rviz" pkg="rviz" type="rviz" args="-d $(find zivid_description)/config/config.rviz" required="true"/>
+</launch>
\ No newline at end of file
diff --git a/zivid_description/meshes/collision/zivid-one-plus.stl b/zivid_description/meshes/collision/zivid-one-plus.stl
new file mode 100644
index 00000000..f98e0924
Binary files /dev/null and b/zivid_description/meshes/collision/zivid-one-plus.stl differ
diff --git a/zivid_description/meshes/collision/zivid-two.stl b/zivid_description/meshes/collision/zivid-two.stl
new file mode 100644
index 00000000..2529982d
Binary files /dev/null and b/zivid_description/meshes/collision/zivid-two.stl differ
diff --git a/zivid_description/meshes/visual/zivid-one-plus.stl b/zivid_description/meshes/visual/zivid-one-plus.stl
new file mode 100644
index 00000000..6b87482c
Binary files /dev/null and b/zivid_description/meshes/visual/zivid-one-plus.stl differ
diff --git a/zivid_description/meshes/visual/zivid-two.stl b/zivid_description/meshes/visual/zivid-two.stl
new file mode 100644
index 00000000..548f629f
Binary files /dev/null and b/zivid_description/meshes/visual/zivid-two.stl differ
diff --git a/zivid_description/package.xml b/zivid_description/package.xml
new file mode 100644
index 00000000..66abb131
--- /dev/null
+++ b/zivid_description/package.xml
@@ -0,0 +1,21 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>zivid_description</name>
+  <version>0.1.0</version>
+  <description>Description of visual and collision geometry of Zivid One+ and Zivid Two 3D Camera</description>
+  
+  <maintainer email="support@zivid.com">Zivid</maintainer>
+  <author email="d.kroezen@tudelft.nl">Dave Kroezen - SAM XL</author>
+
+  <license>BSD3</license>
+
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <exec_depend>xacro</exec_depend>
+  <exec_depend>urdf</exec_depend>
+  <exec_depend>robot_state_publisher</exec_depend>
+
+  <export>
+    <!-- Other tools can request additional information be placed here -->
+  </export>
+</package>
diff --git a/zivid_description/urdf/macros/zivid_one_plus_camera.xacro b/zivid_description/urdf/macros/zivid_one_plus_camera.xacro
new file mode 100644
index 00000000..ef9be4fa
--- /dev/null
+++ b/zivid_description/urdf/macros/zivid_one_plus_camera.xacro
@@ -0,0 +1,56 @@
+<?xml version="1.0"?>
+
+<robot xmlns:xacro="http://ros.org/wiki/xacro">
+
+    <!-- Import Rviz colors -->
+    <xacro:include filename="$(find zivid_description)/urdf/zivid_materials.xacro" />
+
+    <!-- Zivid One+ Optical Frame Angles -->
+    <xacro:property name="angle_type_s" value="15.0" />
+    <xacro:property name="angle_type_m" value="8.5" />
+    <xacro:property name="angle_type_l" value="6.0" />
+
+
+    <xacro:macro name="zivid_one_plus_camera" params="prefix type">
+        <!-- Zivid Base Link -->
+        <link name="${prefix}base_link">
+            <!-- Visuals -->
+            <visual>
+                <origin xyz="-0.0030 -0.0758 0.0445" rpy="${0.5*pi} 0 ${0.5*pi}"/>
+                <geometry>
+                    <mesh filename="package://zivid_description/meshes/visual/zivid-one-plus.stl" scale="0.001 0.001 0.001"/>
+                </geometry>
+                <material name="zivid_gray"/>
+            </visual>
+
+            <!-- Collisions -->
+            <collision>
+                <origin xyz="-0.0030 -0.0758 0.0445" rpy="${0.5*pi} 0 ${0.5*pi}"/>
+                <geometry>
+                    <mesh filename="package://zivid_description/meshes/collision/zivid-one-plus.stl" scale="0.001 0.001 0.001"/>
+                </geometry>
+            </collision>
+        </link>
+
+        <!-- Zivid Optical Frame (Measurement Frame)-->
+        <link name="${prefix}optical_frame"/>
+
+        <!-- Set the angle of the optical frame based on the type -->
+        <xacro:if value="${type == 'ZIVID_ONE_PLUS_S'}" >
+            <xacro:property name="optical_frame_angle" value="${angle_type_s}" />
+        </xacro:if>
+        <xacro:if value="${type == 'ZIVID_ONE_PLUS_M'}" >
+            <xacro:property name="optical_frame_angle" value="${angle_type_m}" />
+        </xacro:if>
+        <xacro:if value="${type == 'ZIVID_ONE_PLUS_L'}" >
+            <xacro:property name="optical_frame_angle" value="${angle_type_l}" />
+        </xacro:if>
+
+        <!-- Zivid Optical (Measurement) Joint -->
+        <joint name="${prefix}optical_joint" type="fixed">
+            <origin xyz="0.065 0.062 0.0445" rpy="-${0.5*pi} 0 -${0.5*pi + optical_frame_angle/180*pi}"/>
+            <parent link="${prefix}base_link"/>
+            <child link="${prefix}optical_frame"/>
+        </joint>
+    </xacro:macro>
+</robot>
\ No newline at end of file
diff --git a/zivid_description/urdf/macros/zivid_two_camera.xacro b/zivid_description/urdf/macros/zivid_two_camera.xacro
new file mode 100644
index 00000000..0af4b78f
--- /dev/null
+++ b/zivid_description/urdf/macros/zivid_two_camera.xacro
@@ -0,0 +1,39 @@
+<?xml version="1.0"?>
+
+<robot xmlns:xacro="http://ros.org/wiki/xacro">
+
+    <!-- Import Rviz colors -->
+    <xacro:include filename="$(find zivid_description)/urdf/zivid_materials.xacro" />
+
+    <xacro:macro name="zivid_two_camera" params="prefix type">
+        <!-- Zivid Base Link -->
+        <link name="${prefix}base_link">
+            <!-- Visuals -->
+            <visual>
+                <origin xyz="-0.0395 -0.0845 0.0" rpy="${0.5*pi} 0 ${0.5*pi}"/>
+                <geometry>
+                    <mesh filename="package://zivid_description/meshes/visual/zivid-two.stl" scale="0.001 0.001 0.001"/>
+                </geometry>
+                <material name="zivid_gray"/>
+            </visual>
+
+            <!-- Collisions -->
+            <collision>
+                <origin xyz="-0.0395 -0.0845 0.0" rpy="${0.5*pi} 0 ${0.5*pi}"/>
+                <geometry>
+                    <mesh filename="package://zivid_description/meshes/collision/zivid-two.stl" scale="0.001 0.001 0.001"/>
+                </geometry>
+            </collision>
+        </link>
+
+        <!-- Zivid Optical Frame (Measurement Frame)-->
+        <link name="${prefix}optical_frame"/>
+
+        <!-- Zivid Optical (Measurement) Joint -->
+        <joint name="${prefix}optical_joint" type="fixed">
+            <origin xyz="0.04702 0.05584 0.0295" rpy="-${0.5*pi} 0 -${0.5*pi}"/>
+            <parent link="${prefix}base_link"/>
+            <child link="${prefix}optical_frame"/>
+        </joint>
+    </xacro:macro>
+</robot>
diff --git a/zivid_description/urdf/zivid_materials.xacro b/zivid_description/urdf/zivid_materials.xacro
new file mode 100644
index 00000000..0876e51b
--- /dev/null
+++ b/zivid_description/urdf/zivid_materials.xacro
@@ -0,0 +1,9 @@
+<?xml version="1.0"?>
+<robot>
+
+    <!-- Material Properties -->
+    <material name="zivid_gray">
+        <color rgba="0.25 0.25 0.25 1"/>
+    </material>
+
+</robot>
\ No newline at end of file
diff --git a/zivid_description/urdf/zivid_one_plus_camera.urdf.xacro b/zivid_description/urdf/zivid_one_plus_camera.urdf.xacro
new file mode 100644
index 00000000..e7d10bf3
--- /dev/null
+++ b/zivid_description/urdf/zivid_one_plus_camera.urdf.xacro
@@ -0,0 +1,10 @@
+<?xml version="1.0"?>
+<robot name="zivid_one_plus_camera_robot" xmlns:xacro="http://www.ros.org/wiki/xacro">
+    <!-- Specify the type of the Zivid two camera -->
+    <!--   Options: ZIVID_ONE_PLUS_S, ZIVID_ONE_PLUS_M, ZIVID_ONE_PLUS_L -->
+    <xacro:arg name="type" default="ZIVID_ONE_PLUS_M" />
+
+    <!-- Import and load Zivid camera -->
+    <xacro:include filename="$(find zivid_description)/urdf/macros/zivid_one_plus_camera.xacro"/>
+    <xacro:zivid_one_plus_camera prefix="" type="$(arg type)"/>
+</robot>
\ No newline at end of file
diff --git a/zivid_description/urdf/zivid_two_camera.urdf.xacro b/zivid_description/urdf/zivid_two_camera.urdf.xacro
new file mode 100644
index 00000000..973b2f86
--- /dev/null
+++ b/zivid_description/urdf/zivid_two_camera.urdf.xacro
@@ -0,0 +1,10 @@
+<?xml version="1.0"?>
+<robot name="zivid_two_camera_robot" xmlns:xacro="http://www.ros.org/wiki/xacro">
+    <!-- Specify the type of the Zivid two camera -->
+    <!--   Options: ZIVID_TWO_M70, ZIVID_TWO_M100, ZIVID_TWO_PLUS_L110, ZIVID_TWO_PLUS_M60, ZIVID_TWO_PLUS_M130 -->
+    <xacro:arg name="type" default="ZIVID_TWO_M70" />
+
+    <!-- Import and load Zivid camera -->
+    <xacro:include filename="$(find zivid_description)/urdf/macros/zivid_two_camera.xacro"/>
+    <xacro:zivid_two_camera prefix="" type="$(arg type)"/>
+</robot>
\ No newline at end of file