diff --git a/README.md b/README.md
index c6c7cdf..3be18ec 100644
--- a/README.md
+++ b/README.md
@@ -6,7 +6,9 @@ This repository contains minimal packages to control the scout robot using ROS.
 
 * scout_bringup: launch and configuration files to start ROS nodes 
 * scout_base: a ROS wrapper around [wrp_sdk](https://github.com/westonrobot/wrp_sdk) to monitor and control the scout robot
+* scout_description: URDF model for the mobile base, a sample urdf (scout_description/sample/scout_v2_nav.xacro) is provided for customized robot with addtional sensors
 * scout_msgs: scout related message definitions
+* scout_viz: rviz configuration for visualization
 
 ## Communication interface setup
 
diff --git a/samples/scout_v2_nav.xacro b/scout_description/sample/scout_v2_nav.xacro
similarity index 100%
rename from samples/scout_v2_nav.xacro
rename to scout_description/sample/scout_v2_nav.xacro