diff --git a/description/include/base_macro.urdf.xacro b/description/include/base_macro.urdf.xacro
new file mode 100644
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+++ b/description/include/base_macro.urdf.xacro
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diff --git a/description/include/depthai_macro.urdf.xacro b/description/include/depthai_macro.urdf.xacro
new file mode 100644
index 0000000..05280b2
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+++ b/description/include/depthai_macro.urdf.xacro
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diff --git a/description/models/OAK-D-LITE.stl b/description/models/OAK-D-LITE.stl
new file mode 100644
index 0000000..e982f0a
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diff --git a/description/oak-d-lite.xacro b/description/oak-d-lite.xacro
new file mode 100644
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--- /dev/null
+++ b/description/oak-d-lite.xacro
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diff --git a/description/robot.urdf.xacro b/description/robot.urdf.xacro
index 872c94c..6c6c933 100644
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+++ b/description/robot.urdf.xacro
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diff --git a/launch/oakd.launch.py b/launch/oakd.launch.py
new file mode 100644
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--- /dev/null
+++ b/launch/oakd.launch.py
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+import os
+
+from launch import LaunchDescription
+from launch_ros.actions import Node
+
+def generate_launch_description():
+
+
+
+ return LaunchDescription([
+
+ Node(
+ package='v4l2_camera',
+ executable='v4l2_camera_node',
+ output='screen',
+ namespace='camera',
+ parameters=[{
+ 'image_size': [640,480],
+ 'time_per_frame': [1, 6],
+ 'camera_frame_id': 'camera_link_optical'
+ }]
+ )
+ ])