diff --git a/aip_xx1_description/urdf/radar.xacro b/aip_xx1_description/urdf/radar.xacro
new file mode 100644
index 00000000..994c124b
--- /dev/null
+++ b/aip_xx1_description/urdf/radar.xacro
@@ -0,0 +1,31 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://ros.org/wiki/xacro">
+  <xacro:macro name="radar_macro" params="name parent x y z roll pitch yaw">
+    <xacro:property name="mass" value="0.01" />
+
+    <joint name="${name}_base_mount_joint" type="fixed">
+      <origin rpy="${roll} ${pitch} ${yaw}" xyz="${x} ${y} ${z}"/>
+      <parent link="${parent}"/>
+      <child  link="${name}"/>
+    </joint>
+
+    <link name="${name}">
+      <visual>
+        <geometry>
+          <box size="0.03 0.1 0.1"/>
+        </geometry>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <material name="black">
+          <color rgba="0.1 0.1 0.1 1.0"/>
+        </material>
+      </visual>
+      <inertial>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <mass value="${mass}"/>
+        <inertia ixx="${(0.03*0.03+0.03*0.03)*mass/12.0}" ixy="0.0" ixz="0.0"
+                 iyy="${(0.1*0.1+0.1*0.1)*mass/12.0}" iyz="0.0"
+                 izz="${(0.1*0.1+0.1*0.1)*mass/12.0}"/>
+      </inertial>
+    </link>
+  </xacro:macro>
+</robot>
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