diff --git a/joint_limits/test/joint_limits_urdf_test.cpp b/joint_limits/test/joint_limits_urdf_test.cpp
new file mode 100644
index 0000000000..27d660afd7
--- /dev/null
+++ b/joint_limits/test/joint_limits_urdf_test.cpp
@@ -0,0 +1,177 @@
+// Copyright 2024 PAL Robotics S.L.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+/// \author Adolfo Rodriguez Tsouroukdissian
+#include "joint_limits/joint_limits_urdf.hpp"
+#include "gtest/gtest.h"
+
+using std::string;
+using namespace joint_limits;
+
+class JointLimitsUrdfTest : public ::testing::Test
+{
+public:
+  JointLimitsUrdfTest()
+  {
+    urdf_limits.reset(new urdf::JointLimits);
+    urdf_limits->effort = 8.0;
+    urdf_limits->velocity = 2.0;
+    urdf_limits->lower = -1.0;
+    urdf_limits->upper = 1.0;
+
+    urdf_safety.reset(new urdf::JointSafety);
+    urdf_safety->k_position = 20.0;
+    urdf_safety->k_velocity = 40.0;
+    urdf_safety->soft_lower_limit = -0.8;
+    urdf_safety->soft_upper_limit = 0.8;
+
+    urdf_joint.reset(new urdf::Joint);
+    urdf_joint->limits = urdf_limits;
+    urdf_joint->safety = urdf_safety;
+
+    urdf_joint->type = urdf::Joint::UNKNOWN;
+  }
+
+protected:
+  urdf::JointLimitsSharedPtr urdf_limits;
+  urdf::JointSafetySharedPtr urdf_safety;
+  urdf::JointSharedPtr urdf_joint;
+};
+
+TEST_F(JointLimitsUrdfTest, GetJointLimits)
+{
+  // Unset URDF joint
+  {
+    JointLimits limits;
+    urdf::JointSharedPtr urdf_joint_bad;
+    EXPECT_FALSE(getJointLimits(urdf_joint_bad, limits));
+  }
+
+  // Unset URDF limits
+  {
+    JointLimits limits;
+    urdf::JointSharedPtr urdf_joint_bad(new urdf::Joint);
+    EXPECT_FALSE(getJointLimits(urdf_joint_bad, limits));
+  }
+
+  // Valid URDF joint, CONTINUOUS type
+  {
+    urdf_joint->type = urdf::Joint::CONTINUOUS;
+
+    JointLimits limits;
+    EXPECT_TRUE(getJointLimits(urdf_joint, limits));
+
+    // Position
+    EXPECT_FALSE(limits.has_position_limits);
+    EXPECT_TRUE(limits.angle_wraparound);
+
+    // Velocity
+    EXPECT_TRUE(limits.has_velocity_limits);
+    EXPECT_DOUBLE_EQ(urdf_joint->limits->velocity, limits.max_velocity);
+
+    // Acceleration
+    EXPECT_FALSE(limits.has_acceleration_limits);
+
+    // Effort
+    EXPECT_TRUE(limits.has_effort_limits);
+    EXPECT_DOUBLE_EQ(urdf_joint->limits->effort, limits.max_effort);
+  }
+
+  // Valid URDF joint, REVOLUTE type
+  {
+    urdf_joint->type = urdf::Joint::REVOLUTE;
+
+    JointLimits limits;
+    EXPECT_TRUE(getJointLimits(urdf_joint, limits));
+
+    // Position
+    EXPECT_TRUE(limits.has_position_limits);
+    EXPECT_DOUBLE_EQ(urdf_joint->limits->lower, limits.min_position);
+    EXPECT_DOUBLE_EQ(urdf_joint->limits->upper, limits.max_position);
+    EXPECT_FALSE(limits.angle_wraparound);
+
+    // Velocity
+    EXPECT_TRUE(limits.has_velocity_limits);
+    EXPECT_DOUBLE_EQ(urdf_joint->limits->velocity, limits.max_velocity);
+
+    // Acceleration
+    EXPECT_FALSE(limits.has_acceleration_limits);
+
+    // Effort
+    EXPECT_TRUE(limits.has_effort_limits);
+    EXPECT_DOUBLE_EQ(urdf_joint->limits->effort, limits.max_effort);
+  }
+
+  // Valid URDF joint, PRISMATIC type
+  {
+    urdf_joint->type = urdf::Joint::PRISMATIC;
+
+    JointLimits limits;
+    EXPECT_TRUE(getJointLimits(urdf_joint, limits));
+
+    // Position
+    EXPECT_TRUE(limits.has_position_limits);
+    EXPECT_DOUBLE_EQ(urdf_joint->limits->lower, limits.min_position);
+    EXPECT_DOUBLE_EQ(urdf_joint->limits->upper, limits.max_position);
+    EXPECT_FALSE(limits.angle_wraparound);
+
+    // Velocity
+    EXPECT_TRUE(limits.has_velocity_limits);
+    EXPECT_DOUBLE_EQ(urdf_joint->limits->velocity, limits.max_velocity);
+
+    // Acceleration
+    EXPECT_FALSE(limits.has_acceleration_limits);
+
+    // Effort
+    EXPECT_TRUE(limits.has_effort_limits);
+    EXPECT_DOUBLE_EQ(urdf_joint->limits->effort, limits.max_effort);
+  }
+}
+
+TEST_F(JointLimitsUrdfTest, GetSoftJointLimits)
+{
+  using namespace joint_limits;
+
+  // Unset URDF joint
+  {
+    SoftJointLimits soft_limits;
+    urdf::JointSharedPtr urdf_joint_bad;
+    EXPECT_FALSE(getSoftJointLimits(urdf_joint_bad, soft_limits));
+  }
+
+  // Unset URDF limits
+  {
+    SoftJointLimits soft_limits;
+    urdf::JointSharedPtr urdf_joint_bad(new urdf::Joint);
+    EXPECT_FALSE(getSoftJointLimits(urdf_joint_bad, soft_limits));
+  }
+
+  // Valid URDF joint
+  {
+    SoftJointLimits soft_limits;
+    EXPECT_TRUE(getSoftJointLimits(urdf_joint, soft_limits));
+
+    // Soft limits
+    EXPECT_DOUBLE_EQ(urdf_joint->safety->soft_lower_limit, soft_limits.min_position);
+    EXPECT_DOUBLE_EQ(urdf_joint->safety->soft_upper_limit, soft_limits.max_position);
+    EXPECT_DOUBLE_EQ(urdf_joint->safety->k_position, soft_limits.k_position);
+    EXPECT_DOUBLE_EQ(urdf_joint->safety->k_velocity, soft_limits.k_velocity);
+  }
+}
+
+int main(int argc, char ** argv)
+{
+  testing::InitGoogleTest(&argc, argv);
+  return RUN_ALL_TESTS();
+}