diff --git a/nao_dcm_common/nao_dcm_description/meshes/helmet_xtion.stl b/nao_dcm_common/nao_dcm_description/meshes/helmet_xtion.stl
deleted file mode 100644
index 9498650..0000000
Binary files a/nao_dcm_common/nao_dcm_description/meshes/helmet_xtion.stl and /dev/null differ
diff --git a/nao_dcm_common/nao_dcm_description/urdf/modules/helmet_xtion.xacro b/nao_dcm_common/nao_dcm_description/urdf/modules/helmet_xtion.xacro
index 9432470..c179df0 100644
--- a/nao_dcm_common/nao_dcm_description/urdf/modules/helmet_xtion.xacro
+++ b/nao_dcm_common/nao_dcm_description/urdf/modules/helmet_xtion.xacro
@@ -25,4 +25,48 @@
     <link name="helmet-xtion">
         <xacro:visuals_collisions_helmet_xtion/>
     </link>
+    <joint name="helmet-to-xtion" type="fixed">
+    	<parent link="helmet-xtion"/>
+    	<child link="xtion"/>
+    	<origin xyz="0 0 0.0075" rpy="-${PI_2} 0 -${PI_2}"/>
+    </joint>
+    <link name="xtion"/>
+
+    <!-- GAZEBO SPECIFIC FOR XTION -->
+    <gazebo reference="helmet-xtion">
+    	<sensor type="depth" name="xtion">
+        <always_on>true</always_on>
+        <update_rate>30.0</update_rate>
+        <camera>
+          <horizontal_fov>${60.0*PI/180.0}</horizontal_fov>
+          <image>
+            <format>R8G8B8</format>
+            <width>640</width>
+            <height>480</height>
+          </image>
+          <clip>
+            <near>0.05</near>
+            <far>8.0</far>
+          </clip>
+        </camera>
+        <plugin name="xtion_camera_controller" filename="libgazebo_ros_openni_kinect.so">
+          <cameraName>xtion</cameraName>
+          <alwaysOn>true</alwaysOn>
+          <updateRate>30</updateRate>
+          <imageTopicName>xtion/rgb/image_raw</imageTopicName>
+          <depthImageTopicName>xtion/depth/image_raw</depthImageTopicName>
+          <pointCloudTopicName>xtion/depth/points</pointCloudTopicName>
+          <cameraInfoTopicName>xtion/rgb/camera_info</cameraInfoTopicName>
+          <depthImageCameraInfoTopicName>xtion/depth/camera_info</depthImageCameraInfoTopicName>
+          <frameName>xtion</frameName>
+          <baseline>0.1</baseline>
+          <distortion_k1>0.0</distortion_k1>
+          <distortion_k2>0.0</distortion_k2>
+          <distortion_k3>0.0</distortion_k3>
+          <distortion_t1>0.0</distortion_t1>
+          <distortion_t2>0.0</distortion_t2>
+          <pointCloudCutoff>0.4</pointCloudCutoff>
+        </plugin>
+      </sensor>
+	</gazebo>
 </robot>
\ No newline at end of file