diff --git a/.gitignore b/.gitignore
new file mode 100644
index 0000000..722d5e7
--- /dev/null
+++ b/.gitignore
@@ -0,0 +1 @@
+.vscode
diff --git a/meshes/zed.stl b/meshes/zed.stl
new file mode 100644
index 0000000..913d2cd
Binary files /dev/null and b/meshes/zed.stl differ
diff --git a/meshes/zed2.stl b/meshes/zed2.stl
new file mode 100644
index 0000000..913d2cd
Binary files /dev/null and b/meshes/zed2.stl differ
diff --git a/meshes/zed2i.stl b/meshes/zed2i.stl
new file mode 100644
index 0000000..76a08d0
Binary files /dev/null and b/meshes/zed2i.stl differ
diff --git a/meshes/zedm.stl b/meshes/zedm.stl
new file mode 100644
index 0000000..7048bc7
Binary files /dev/null and b/meshes/zedm.stl differ
diff --git a/meshes/zedx.stl b/meshes/zedx.stl
new file mode 100644
index 0000000..f115cb2
Binary files /dev/null and b/meshes/zedx.stl differ
diff --git a/meshes/zedxm.stl b/meshes/zedxm.stl
new file mode 100644
index 0000000..b26ddb7
Binary files /dev/null and b/meshes/zedxm.stl differ
diff --git a/urdf/intel_realsense_d435.urdf.xacro b/urdf/intel_realsense_d435.urdf.xacro
index 63f620e..01aa5da 100644
--- a/urdf/intel_realsense_d435.urdf.xacro
+++ b/urdf/intel_realsense_d435.urdf.xacro
@@ -17,7 +17,7 @@
 # limitations under the License.
 -->
 
-<robot xmlns:xacro="http://ros.org/wiki/xacro">
+<robot name="intel_camera" xmlns:xacro="http://ros.org/wiki/xacro">
   <xacro:macro name="intel_realsense_d435"
     params="parent_link xyz rpy
             name:=camera
@@ -195,26 +195,26 @@
           <topic>${topic}/depth</topic>
           <visualize>false</visualize>
 
-          <!-- Pointcloud is published in internal gazebo frame name, and there seem to be no
-            way to change it, interestingly depth image is published correctly in the ignition_frame_id -->
-          <ignition_frame_id>${name}_depth_frame</ignition_frame_id>
-
-          <horizontal_fov>${87.0/180.0*pi}</horizontal_fov>
-          <image>
-            <width>1280</width>
-            <height>720</height>
-          </image>
-          <clip>
-            <near>0.28</near>
-            <far>8.0</far>
-          </clip>
-          <noise>
-            <type>gaussian</type>
-            <mean>0.0</mean>
-            <stddev>0.005</stddev>
-          </noise>
+          <ignition_frame_id>${name}_depth_optical_frame</ignition_frame_id>
+          <camera>
+            <horizontal_fov>${87.0/180.0*pi}</horizontal_fov>
+            <image>
+              <width>1280</width>
+              <height>720</height>
+              <format>R_FLOAT32</format>
+            </image>
+            <clip>
+              <near>0.28</near>
+              <far>8.0</far>
+            </clip>
+            <noise>
+              <type>gaussian</type>
+              <mean>0.0</mean>
+              <stddev>0.005</stddev>
+            </noise>
+          </camera>
         </sensor>
       </gazebo>
     </xacro:if>
   </xacro:macro>
-</robot>
\ No newline at end of file
+</robot>
diff --git a/urdf/stereolabs_zed.urdf.xacro b/urdf/stereolabs_zed.urdf.xacro
new file mode 100644
index 0000000..2ed07f3
--- /dev/null
+++ b/urdf/stereolabs_zed.urdf.xacro
@@ -0,0 +1,229 @@
+<?xml version="1.0"?>
+
+<!--
+// Copyright 2022 Stereolabs
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//      http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+-->
+
+<robot xmlns:xacro="http://wiki.ros.org/xacro">
+  <xacro:property name="M_PI" value="3.1415926535897931" />
+
+  <xacro:macro name="zed_camera"
+    params="parent_link xyz rpy
+    model:=zed
+    name:=camera
+    topic:=camera
+    use_nominal_extrinsics:=false
+    simulation_engine:=ignition-gazebo">
+
+    <xacro:if value="${model == 'zed'}">
+      <xacro:property name="baseline" value="0.12" />
+      <xacro:property name="height" value="0.03" />
+      <xacro:property name="bottom_slope" value="0.05" />
+      <xacro:property name="screw_offset_x" value="0.0" />
+      <xacro:property name="screw_offset_z" value="0.0" />
+      <xacro:property name="optical_offset_x" value="-0.01" />
+    </xacro:if>
+    <xacro:if value="${model == 'zedm'}">
+      <xacro:property name="baseline" value="0.06" />
+      <xacro:property name="height" value="0.0265" />
+      <xacro:property name="bottom_slope" value="0.0" />
+      <xacro:property name="screw_offset_x" value="0.0" />
+      <xacro:property name="screw_offset_z" value="0.0" />
+      <xacro:property name="optical_offset_x" value="0.0" />
+    </xacro:if>
+    <xacro:if value="${model == 'zed2'}">
+      <xacro:property name="baseline" value="0.12" />
+      <xacro:property name="height" value="0.03" />
+      <xacro:property name="bottom_slope" value="0.05" />
+      <xacro:property name="screw_offset_x" value="0.0" />
+      <xacro:property name="screw_offset_z" value="0.0" />
+      <xacro:property name="optical_offset_x" value="-0.01" />
+    </xacro:if>
+    <xacro:if value="${model == 'zed2i'}">
+      <xacro:property name="baseline" value="0.12" />
+      <xacro:property name="height" value="0.03" />
+      <xacro:property name="bottom_slope" value="0.0" />
+      <xacro:property name="screw_offset_x" value="-0.01" />
+      <xacro:property name="screw_offset_z" value="0.0" />
+      <xacro:property name="optical_offset_x" value="-0.01" />
+    </xacro:if>
+    <xacro:if value="${model == 'zedx'}">
+      <xacro:property name="baseline" value="0.12" />
+      <xacro:property name="height" value="0.032" />
+      <xacro:property name="bottom_slope" value="0.0" />
+      <xacro:property name="screw_offset_x" value="0.0" />
+      <xacro:property name="screw_offset_z" value="-0.016" />
+      <xacro:property name="optical_offset_x" value="-0.01" />
+    </xacro:if>
+    <xacro:if value="${model == 'zedxm'}">
+      <xacro:property name="baseline" value="0.05" />
+      <xacro:property name="height" value="0.032" />
+      <xacro:property name="bottom_slope" value="0.0" />
+      <xacro:property name="screw_offset_x" value="0.0" />
+      <xacro:property name="screw_offset_z" value="-0.016" />
+      <xacro:property name="optical_offset_x" value="-0.01" />
+    </xacro:if>
+
+    <!-- Camera mounting point (the threaded screw hole in the bottom) -->
+    <link name="${name}_link" />
+    <joint name="${name}_base_joint" type="fixed">
+      <parent link="${parent_link}" />
+      <child link="${name}_link" />
+      <origin xyz="${xyz}" rpy="${rpy}" />
+    </joint>
+
+    <!-- Camera Center -->
+    <link name="${name}_camera_center">
+      <visual>
+        <origin xyz="${screw_offset_x} 0 ${screw_offset_z}" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="file://$(find ros_components_description)/meshes/${model}.stl" />
+        </geometry>
+        <material name="mat">
+          <color rgba="0.25 0.25 0.25 0.99" />
+        </material>
+      </visual>
+      <collision>
+        <geometry>
+          <mesh filename="file://$(find ros_components_description)/meshes/${model}.stl" />
+        </geometry>
+      </collision>
+    </link>
+    <joint name="${name}_camera_center_joint" type="fixed">
+      <parent link="${name}_link" />
+      <child link="${name}_camera_center" />
+      <origin xyz="0 0 ${height/2}" rpy="0 ${bottom_slope} 0" />
+    </joint>
+
+    <!-- Artificially Created Camera Center -->
+    <link name="${name}_center_optical_frame" />
+    <joint name="${name}_center_joint" type="fixed">
+      <parent link="${name}_camera_center" />
+      <child link="${name}_center_optical_frame" />
+      <origin xyz="0.01 0 0" rpy="0 0 0" />
+    </joint>
+
+    <!-- Left Camera -->
+    <link name="${name}_left_camera_frame" />
+    <joint name="${name}_left_camera_joint" type="fixed">
+      <parent link="${name}_camera_center" />
+      <child link="${name}_left_camera_frame" />
+      <origin xyz="${optical_offset_x} ${baseline/2} 0" rpy="0 0 0" />
+    </joint>
+
+    <link name="${name}_left_camera_optical_frame" />
+    <joint name="${name}_left_camera_optical_joint" type="fixed">
+      <origin xyz="0 0 0" rpy="-${M_PI/2} 0.0 -${M_PI/2}" />
+      <parent link="${name}_left_camera_frame" />
+      <child link="${name}_left_camera_optical_frame" />
+    </joint>
+
+    <!-- Right Camera -->
+    <link name="${name}_right_camera_frame" />
+    <joint name="${name}_right_camera_joint" type="fixed">
+      <parent link="${name}_camera_center" />
+      <child link="${name}_right_camera_frame" />
+      <origin xyz="${optical_offset_x} -${baseline/2} 0" rpy="0 0 0" />
+    </joint>
+
+    <link name="${name}_right_camera_optical_frame" />
+    <joint name="${name}_right_camera_optical_joint" type="fixed">
+      <origin xyz="0 0 0" rpy="-${M_PI/2} 0.0 -${M_PI/2}" />
+      <parent link="${name}_right_camera_frame" />
+      <child link="${name}_right_camera_optical_frame" />
+    </joint>
+
+
+    <!-- ZED2 Sensors -->
+    <xacro:if value="${model == 'zed2'}">
+      <link name="${name}_mag_link" />
+      <joint name="${name}_mag_joint" type="fixed">
+        <parent link="${name}_camera_center" />
+        <child link="${name}_mag_link" />
+        <origin xyz="0 0 0" rpy="0 0 0" />
+      </joint>
+
+      <link name="${name}_baro_link" />
+      <joint name="${name}_baro_joint" type="fixed">
+        <parent link="${name}_camera_center" />
+        <child link="${name}_baro_link" />
+        <origin xyz="0 0 0" rpy="0 0 0" />
+      </joint>
+
+      <link name="${name}_temp_left_link" />
+      <joint name="${name}_temp_left_joint" type="fixed">
+        <parent link="${name}_left_camera_frame" />
+        <child link="${name}_temp_left_link" />
+        <origin xyz="0 0 0" rpy="0 0 0" />
+      </joint>
+    </xacro:if>
+
+    <xacro:if value="${simulation_engine == 'ignition-gazebo'}">
+      <!-- It is also possible to use single rgbd_camera sensor, but using separate rgb and depth
+      camera
+        should be more accurate different frames and fovs can be set -->
+      <gazebo reference="${name}_center_optical_frame">
+        <sensor type="camera" name="${name}_color">
+          <always_on>true</always_on>
+          <update_rate>30.0</update_rate>
+
+          <topic>${model}/zed_node/rgb/image_rect_color</topic>
+          <visualize>false</visualize>
+
+          <ignition_frame_id>${name}_center_optical_frame</ignition_frame_id>
+          <camera>
+            <horizontal_fov>${110.0/180.0*pi}</horizontal_fov>
+            <image>
+              <width>1920</width>
+              <height>1080</height>
+              <format>R8G8B8</format>
+            </image>
+            <clip>
+              <near>0.02</near>
+              <far>300.0</far>
+            </clip>
+          </camera>
+        </sensor>
+
+        <sensor type="depth_camera" name="${name}_depth">
+          <always_on>true</always_on>
+          <update_rate>30.0</update_rate>
+
+          <topic>${model}/zed_node/depth</topic>
+          <visualize>false</visualize>
+
+          <ignition_frame_id>${name}_center_optical_frame</ignition_frame_id>
+          <camera>
+            <horizontal_fov>${110.0/180.0*pi}</horizontal_fov>
+            <image>
+              <width>1920</width>
+              <height>1080</height>
+              <format>R_FLOAT32</format>
+            </image>
+            <clip>
+              <near>0.3</near>
+              <far>20.0</far>
+            </clip>
+            <noise type="gaussian">
+              <mean>0.0</mean>
+              <stddev>0.03</stddev>
+            </noise>
+          </camera>
+        </sensor>
+      </gazebo>
+    </xacro:if>
+
+  </xacro:macro>
+</robot>