diff --git a/clearpath_sensors_description/meshes/axis_dome.stl b/clearpath_sensors_description/meshes/axis_dome.stl
new file mode 100644
index 00000000..6b749f24
Binary files /dev/null and b/clearpath_sensors_description/meshes/axis_dome.stl differ
diff --git a/clearpath_sensors_description/meshes/axis_q62_base.stl b/clearpath_sensors_description/meshes/axis_q62_base.stl
new file mode 100644
index 00000000..73c6b959
Binary files /dev/null and b/clearpath_sensors_description/meshes/axis_q62_base.stl differ
diff --git a/clearpath_sensors_description/meshes/axis_q62_top.stl b/clearpath_sensors_description/meshes/axis_q62_top.stl
new file mode 100644
index 00000000..30e6a2b8
Binary files /dev/null and b/clearpath_sensors_description/meshes/axis_q62_top.stl differ
diff --git a/clearpath_sensors_description/urdf/axis_dome_fixed.urdf.xacro b/clearpath_sensors_description/urdf/axis_dome_fixed.urdf.xacro
new file mode 100644
index 00000000..d78a1e94
--- /dev/null
+++ b/clearpath_sensors_description/urdf/axis_dome_fixed.urdf.xacro
@@ -0,0 +1,84 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ Gazebo/Black
+
+ 15
+
+ 6.28
+ 1.57
+
+ 640
+ 480
+ R8G8B8
+
+
+ 0.05
+ 500.0
+
+
+
+ true
+ ${prefix}_camera
+ ${topic}
+ camera_info
+ ${prefix}_camera_link
+
+
+
+
+
\ No newline at end of file
diff --git a/clearpath_sensors_description/urdf/axis_dome_ptz.urdf.xacro b/clearpath_sensors_description/urdf/axis_dome_ptz.urdf.xacro
new file mode 100644
index 00000000..2f536d78
--- /dev/null
+++ b/clearpath_sensors_description/urdf/axis_dome_ptz.urdf.xacro
@@ -0,0 +1,146 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ Gazebo/LightGrey
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ transmission_interface/SimpleTransmission
+
+ hardware_interface/VelocityJointInterface
+
+
+ 1
+
+
+
+ transmission_interface/SimpleTransmission
+
+ hardware_interface/VelocityJointInterface
+
+
+ 1
+
+
+
+ Gazebo/Black
+
+ 15
+
+ 1.5184351666666667
+ 1.0122901111111111
+
+ 640
+ 480
+ R8G8B8
+
+
+ 0.05
+ 500.0
+
+
+
+ true
+ ${prefix}_camera
+ ${topic}
+ camera_info
+ ${prefix}_camera_link
+
+
+
+
+
\ No newline at end of file
diff --git a/clearpath_sensors_description/urdf/axis_q62.urdf.xacro b/clearpath_sensors_description/urdf/axis_q62.urdf.xacro
new file mode 100644
index 00000000..c3414c10
--- /dev/null
+++ b/clearpath_sensors_description/urdf/axis_q62.urdf.xacro
@@ -0,0 +1,164 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ Gazebo/Grey
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ Gazebo/Grey
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ transmission_interface/SimpleTransmission
+
+ hardware_interface/VelocityJointInterface
+
+
+ 1
+
+
+
+ transmission_interface/SimpleTransmission
+
+ hardware_interface/VelocityJointInterface
+
+
+ 1
+
+
+
+ Gazebo/Black
+
+ 15
+
+ 1.5184351666666667
+ 1.0122901111111111
+
+ 640
+ 480
+ R8G8B8
+
+
+ 0.05
+ 500.0
+
+
+
+ true
+ ${prefix}_camera
+ ${topic}
+ camera_info
+ ${prefix}_camera_link
+
+
+
+
+
\ No newline at end of file