diff --git a/urdf_parser/CMakeLists.txt b/urdf_parser/CMakeLists.txt
deleted file mode 100644
index c4d486b..0000000
--- a/urdf_parser/CMakeLists.txt
+++ /dev/null
@@ -1,8 +0,0 @@
-cmake_minimum_required(VERSION 2.8.3)
-project(urdf_parser)
-
-find_package(catkin REQUIRED COMPONENTS urdfdom)
-
-catkin_package(
-  DEPENDS urdfdom
-  )
diff --git a/urdf_parser/mainpage.dox b/urdf_parser/mainpage.dox
deleted file mode 100644
index 9287a45..0000000
--- a/urdf_parser/mainpage.dox
+++ /dev/null
@@ -1,159 +0,0 @@
-/**
-\mainpage
-\htmlinclude manifest.html
-
-urdf::Model is a class containing robot model data structure.
-Every Robot Description File (URDF) can be described as a list of Links (urdf::Model::links_) and Joints (urdf::Model::joints_).
-The connection between links(nodes) and joints(edges) should define a tree (i.e. 1 parent link, 0+ children links).
-\li Here is an example Robot Description Describing a Parent Link 'P', a Child Link 'C', and a Joint 'J'
- @verbatim
-  <joint name="J" type="revolute">
-    <dynamics damping="1" friction="0"/>
-    <limit lower="0.9" upper="2.1" effort="1000" velocity="1"/>
-    <safety_controller soft_lower_limit="0.7" soft_upper_limit="2.1" k_position="1" k_velocity="1" />
-    <calibration reference_position="0.7" />
-    <mimic joint="J100" offset="0" multiplier="0.7" />
-
-    <!-- origin: origin of the joint in the parent frame -->
-    <!-- child link frame is the joint frame -->
-    <!-- axis is in the joint frame -->
-    <origin xyz="0 0 0" rpy="0 0 0"/> 
-    <axis xyz="0 1 0"/> 
-    <parent link="P"/>
-    <child link="C"/>
-  </joint>
-
-  <link name="C">
-    <inertial>
-      <mass value="10"/>
-      <origin xyz="0 0 0" rpy="0 0 0"/>
-      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
-    </inertial>
-
-    <visual>
-      <origin xyz="0 0 0" rpy="0 0 0"/>
-      <geometry>
-        <box size="1 1 1"/>
-      </geometry>
-      <material name="Green"/>
-    </visual>
-
-    <collision>
-      <origin xyz="0 0 0" rpy="0 0 0"/>
-      <geometry>
-        <box size="1.01 1.01 1.01"/>
-      </geometry>
-      <contact_coefficient mu="0"  resitution="0"  k_p="0"  k_d="0" />
-    </collision>
-  </link>
-
-  <material name="Green">
-    <texture filename="...texture file..." />
-    <!--color rgb="255 255 255" /-->
-  </material>
- @endverbatim
-
-
-
-\section codeapi Code API
-
-The URDF parser API contains the following methods:
-  \li Parse and build tree from XML: urdf::Model::initXml
-  \li Parse and build tree from File: urdf::Model::initFile
-  \li Parse and build tree from String: urdf::Model::initString
-  \li Get Root Link: urdf::Model::getRoot
-  \li Get Link by name urdf::Model::getLink
-  \li Get all Link's urdf::Model::getLinks
-  \li Get Joint by name urdf::Model::getJoint
-
-<!--
-\section rosapi ROS API
-
-Names are very important in ROS because they can be remapped on the
-command-line, so it is VERY IMPORTANT THAT YOU LIST NAMES AS THEY
-APPEAR IN THE CODE. You should list names of every topic, service and
-parameter used in your code. There is a template below that you can
-use to document each node separately.
-
-List of nodes:
-- \b node_name1
-- \b node_name2
--->
-
-<!-- START: copy from here to 'END' for each node 
-
-<hr>
-
-\subsection node_name node_name
-
-node_name does (provide a basic description of your node)
-
-\subsubsection Usage
-\verbatim
-$ node_type1 [standard ROS args]
-\endverbatim
-
-\par Example
-
-\verbatim
-$ node_type1
-\endverbatim
-
-
-\subsubsection topics ROS topics
-
-Subscribes to:
-- \b "in": [std_msgs/FooType] description of in
-
-Publishes to:
-- \b "out": [std_msgs/FooType] description of out
-
-
-\subsubsection parameters ROS parameters
-
-Reads the following parameters from the parameter server
-
-- \b "~param_name" : \b [type] description of param_name
-- \b "~my_param" : \b [string] description of my_param
-
-Sets the following parameters on the parameter server
-
-- \b "~param_name" : \b [type] description of param_name
-
-
-\subsubsection services ROS services
-- \b "foo_service": [std_srvs/FooType] description of foo_service
-
-
-END: copy for each node -->
-
-
-<!-- START: Uncomment if you have any command-line tools
-
-\section commandline Command-line tools
-
-This section is a catch-all for any additional tools that your package
-provides or uses that may be of use to the reader. For example:
-
-- tools/scripts (e.g. rospack, roscd)
-- roslaunch .launch files
-- xmlparam files
-
-\subsection script_name script_name
-
-Description of what this script/file does.
-
-\subsubsection Usage
-\verbatim
-$ ./script_name [args]
-\endverbatim
-
-\par Example
-
-\verbatim
-$ ./script_name foo bar
-\endverbatim
-
-END: Command-Line Tools Section -->
-
-*/
diff --git a/urdf_parser/package.xml b/urdf_parser/package.xml
deleted file mode 100644
index f33b90c..0000000
--- a/urdf_parser/package.xml
+++ /dev/null
@@ -1,32 +0,0 @@
-<package>
-  <name>urdf_parser</name>
-  <version>1.10.9</version>
-  <description>
-    This package is DEPRECATED. Please use the urdfdom dependency directly instead of this package.
-
-    This package contains a C++ parser for the Unified Robot
-    Description Format (URDF), which is an XML format for representing
-    a robot model.  The parser reads a URDF XML robot description, and
-    creates a C++ URDF model. Although it is possible to directly use
-    this parser when working with URDF robot descriptions, the
-    preferred user API is found in the urdf package.
-  </description>
-
-  <author>Wim Meeussen</author>
-  <author>John Hsu</author>
-  <author>Rosen Diankov</author>
-  <maintainer email="isucan@willowgarage.com">Ioan Sucan</maintainer>
-
-  <license>BSD</license>
-
-  <url type="website">http://ros.org/wiki/urdf_parser</url>
-  <url type="repository">https://github.com/ros/robot_model</url>
-  <url type="bugtracker">https://github.com/ros/robot_model/issues</url>
-
-  <buildtool_depend>catkin</buildtool_depend>
-
-  <build_depend>urdfdom</build_depend>
-
-  <run_depend>urdfdom</run_depend>
-
-</package>