diff --git a/robots/g1_description/CMakeLists.txt b/robots/g1_description/CMakeLists.txt
new file mode 100644
index 00000000..059cb9f5
--- /dev/null
+++ b/robots/g1_description/CMakeLists.txt
@@ -0,0 +1,17 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(g1_description)
+
+find_package(catkin REQUIRED COMPONENTS
+    roscpp
+    std_msgs
+)
+
+catkin_package(
+    CATKIN_DEPENDS
+)
+
+include_directories(
+    # include
+    ${Boost_INCLUDE_DIR}
+    ${catkin_INCLUDE_DIRS}
+)
diff --git a/robots/g1_description/package.xml b/robots/g1_description/package.xml
new file mode 100644
index 00000000..60ea8321
--- /dev/null
+++ b/robots/g1_description/package.xml
@@ -0,0 +1,14 @@
+<?xml version="1.0"?>
+<package format="2">
+    <name>g1_description</name>
+    <version>0.0.0</version>
+    <description>The g1_description package</description>
+
+    <maintainer email="g1@unitree.cc">unitree</maintainer>
+    <license>BSD</license>
+
+    <buildtool_depend>catkin</buildtool_depend>
+    <depend>roscpp</depend>
+    <depend>std_msgs</depend>
+
+</package>