diff --git a/.idea/.gitignore b/.idea/.gitignore
new file mode 100644
index 0000000..13566b8
--- /dev/null
+++ b/.idea/.gitignore
@@ -0,0 +1,8 @@
+# Default ignored files
+/shelf/
+/workspace.xml
+# Editor-based HTTP Client requests
+/httpRequests/
+# Datasource local storage ignored files
+/dataSources/
+/dataSources.local.xml
diff --git a/.idea/inspectionProfiles/Project_Default.xml b/.idea/inspectionProfiles/Project_Default.xml
new file mode 100644
index 0000000..c8692bc
--- /dev/null
+++ b/.idea/inspectionProfiles/Project_Default.xml
@@ -0,0 +1,10 @@
+
+
+
+
+
+
+
+
+
+
\ No newline at end of file
diff --git a/.idea/inspectionProfiles/profiles_settings.xml b/.idea/inspectionProfiles/profiles_settings.xml
new file mode 100644
index 0000000..105ce2d
--- /dev/null
+++ b/.idea/inspectionProfiles/profiles_settings.xml
@@ -0,0 +1,6 @@
+
+
+
+
+
+
\ No newline at end of file
diff --git a/.idea/misc.xml b/.idea/misc.xml
new file mode 100644
index 0000000..dc9ea49
--- /dev/null
+++ b/.idea/misc.xml
@@ -0,0 +1,4 @@
+
+
+
+
\ No newline at end of file
diff --git a/.idea/modules.xml b/.idea/modules.xml
new file mode 100644
index 0000000..b36afcc
--- /dev/null
+++ b/.idea/modules.xml
@@ -0,0 +1,8 @@
+
+
+
+
+
+
+
+
\ No newline at end of file
diff --git a/.idea/vcs.xml b/.idea/vcs.xml
new file mode 100644
index 0000000..8541c93
--- /dev/null
+++ b/.idea/vcs.xml
@@ -0,0 +1,10 @@
+
+
+
+
+
+
+
+
+
+
\ No newline at end of file
diff --git a/.idea/ws_universal_robotics.iml b/.idea/ws_universal_robotics.iml
new file mode 100644
index 0000000..5fdd65b
--- /dev/null
+++ b/.idea/ws_universal_robotics.iml
@@ -0,0 +1,15 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
\ No newline at end of file
diff --git a/src/ur_robotiq_description/CMakeLists.txt b/src/ur_robotiq_description/CMakeLists.txt
new file mode 100644
index 0000000..5e86e05
--- /dev/null
+++ b/src/ur_robotiq_description/CMakeLists.txt
@@ -0,0 +1,26 @@
+cmake_minimum_required(VERSION 3.8)
+project(ur_robotiq_description)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+ add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+# uncomment the following section in order to fill in
+# further dependencies manually.
+# find_package( REQUIRED)
+
+if(BUILD_TESTING)
+ find_package(ament_lint_auto REQUIRED)
+ # the following line skips the linter which checks for copyrights
+ # comment the line when a copyright and license is added to all source files
+ set(ament_cmake_copyright_FOUND TRUE)
+ # the following line skips cpplint (only works in a git repo)
+ # comment the line when this package is in a git repo and when
+ # a copyright and license is added to all source files
+ set(ament_cmake_cpplint_FOUND TRUE)
+ ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()
diff --git a/src/ur_robotiq_description/package.xml b/src/ur_robotiq_description/package.xml
new file mode 100644
index 0000000..00c2660
--- /dev/null
+++ b/src/ur_robotiq_description/package.xml
@@ -0,0 +1,18 @@
+
+
+
+ ur_robotiq_description
+ 0.0.0
+ TODO: Package description
+ niko
+ TODO: License declaration
+
+ ament_cmake
+
+ ament_lint_auto
+ ament_lint_common
+
+
+ ament_cmake
+
+
diff --git a/src/ur_robotiq_description/urdf/ur_robotiq.urdf b/src/ur_robotiq_description/urdf/ur_robotiq.urdf
new file mode 100644
index 0000000..7678bf1
--- /dev/null
+++ b/src/ur_robotiq_description/urdf/ur_robotiq.urdf
@@ -0,0 +1,904 @@
+
+
+
+
+
+
+
+
+
+
+
+ ur_robot_driver/URPositionHardwareInterface
+ 0.0.0.0
+
+
+
+ False
+ 50001
+ 50002
+ 0.0.0.0
+ 50004
+ 50003
+
+ True
+ 2000
+ 0.03
+ False
+ calib_16756443741236045476
+ 0
+ 0
+ 115200
+ 1
+ 1.5
+ 3.5
+ /tmp/ttyUR
+ 54321
+ 2
+
+
+
+ {-2*pi}
+ {2*pi}
+
+
+ -3.15
+ 3.15
+
+
+
+ 0.0
+
+
+
+
+
+
+ {-2*pi}
+ {2*pi}
+
+
+ -3.15
+ 3.15
+
+
+
+ -1.57
+
+
+
+
+
+
+ {-pi}
+ {pi}
+
+
+ -3.15
+ 3.15
+
+
+
+ 0.0
+
+
+
+
+
+
+ {-2*pi}
+ {2*pi}
+
+
+ -3.2
+ 3.2
+
+
+
+ -1.57
+
+
+
+
+
+
+ {-2*pi}
+ {2*pi}
+
+
+ -3.2
+ 3.2
+
+
+
+ 0.0
+
+
+
+
+
+
+ {-2*pi}
+ {2*pi}
+
+
+ -3.2
+ 3.2
+
+
+
+ 0.0
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ 1
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
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+
+
+
+
+
+
+
+
+
+
+
+
+
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+
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+
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+
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+
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+
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+
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+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ robotiq_driver/RobotiqGripperHardwareInterface
+ 0.695
+ /dev/ttyUSB0
+ 1.0
+ 0.5
+
+
+
+
+
+
+ 0.695
+
+
+
+
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+
diff --git a/src/ur_robotiq_description/urdf/ur_robotiq.urdf.xacro b/src/ur_robotiq_description/urdf/ur_robotiq.urdf.xacro
new file mode 100644
index 0000000..d2d05e0
--- /dev/null
+++ b/src/ur_robotiq_description/urdf/ur_robotiq.urdf.xacro
@@ -0,0 +1,110 @@
+
+
+
+
+
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+
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+
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