diff --git a/hsrb_description/robots/hsrb1s.urdf.xacro b/hsrb_description/robots/hsrb1s.urdf.xacro
new file mode 100644
index 00000000..176544b0
--- /dev/null
+++ b/hsrb_description/robots/hsrb1s.urdf.xacro
@@ -0,0 +1,63 @@
+
+
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+
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+ ${robot_name}
+ false
+
+
+
+ ${personal_name}/${robot_name}
+ base_footprint
+ odom_ground_truth
+ map
+ 30
+
+
+
diff --git a/hsrb_description/robots/hsrb2s.urdf.xacro b/hsrb_description/robots/hsrb2s.urdf.xacro
new file mode 100644
index 00000000..73548d2a
--- /dev/null
+++ b/hsrb_description/robots/hsrb2s.urdf.xacro
@@ -0,0 +1,63 @@
+
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+ ${personal_name}/${robot_name}
+ false
+
+
+
+ ${personal_name}/${robot_name}
+ base_footprint
+ odom_ground_truth
+ map
+ 30
+
+
+
diff --git a/hsrb_description/robots/hsrb3s.urdf.xacro b/hsrb_description/robots/hsrb3s.urdf.xacro
new file mode 100644
index 00000000..d0e792b2
--- /dev/null
+++ b/hsrb_description/robots/hsrb3s.urdf.xacro
@@ -0,0 +1,63 @@
+
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+
+
+
+ ${personal_name}/${robot_name}
+ false
+
+
+
+ ${personal_name}/${robot_name}
+ base_footprint
+ odom_ground_truth
+ map
+ 30
+
+
+
diff --git a/hsrb_description/robots/hsrb4s.urdf.xacro b/hsrb_description/robots/hsrb4s.urdf.xacro
new file mode 100644
index 00000000..3115b43c
--- /dev/null
+++ b/hsrb_description/robots/hsrb4s.urdf.xacro
@@ -0,0 +1,66 @@
+
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+
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+
+
+
+ ${personal_name}/${robot_name}
+ false
+
+
+ ${personal_name}/${robot_name}
+ base_footprint
+ odom_ground_truth
+ map
+ 30
+ $(arg ground_truth_xyz_offset)
+ $(arg ground_truth_rpy_offset)
+
+
+
diff --git a/hsrb_description/robots/upload_hsrb.launch b/hsrb_description/robots/upload_hsrb.launch
index 2694cb49..efe19c8a 100644
--- a/hsrb_description/robots/upload_hsrb.launch
+++ b/hsrb_description/robots/upload_hsrb.launch
@@ -11,7 +11,7 @@
+ command="$(find xacro)/xacro --inorder $(find hero_bringup)/hsrb_description/robots/$(arg robot_model).urdf.xacro gazebo_visualization_enabled:=$(arg visualization) implicit_damping:=$(arg implicit_damping) ground_truth_xyz_offset:=$(arg ground_truth_xyz_offset) ground_truth_rpy_offset:=$(arg ground_truth_rpy_offset)" />
diff --git a/hsrb_description/urdf/base_v2/base.urdf.xacro b/hsrb_description/urdf/base_v2/base.urdf.xacro
new file mode 100644
index 00000000..4db87384
--- /dev/null
+++ b/hsrb_description/urdf/base_v2/base.urdf.xacro
@@ -0,0 +1,264 @@
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